227 results about "Live-line working" patented technology

The invention provides a live line work mechanical arm autonomous obstacle avoidance path searching method based on movement primitive libraries. A complete mechanical arm kinematic model and a mechanical arm simplified kinematic model are built, and a mechanical arm working environment is built; the movement primitive libraries are designed in a classified mode, and corresponding movement primitives are designed for the various libraries to serve as library members; distance calculation functions between a mechanical arm and a target point and between the mechanical arm and an obstacle are built in a classified mode, and the danger area threshold value and the target point arriving precision threshold value are set; a heuristic function hd(x) in the Cartesian space and a heuristic function hc(x) in the articulate space, and a heuristic rule are created, and heuristic searching is achieved; and the current pose and the expected pose of the mechanical arm and the Cartesian space distance of the obstacle are calculated, and a path is planned according to the set judgment condition. Mechanical arm operation scene information can be built rapidly and precisely, it is guaranteed that the obstacle avoidance path searching result has suboptimality and completeness, the path can be planned rapidly under the premise of meeting the kinematic constraint, and the stationarity of the mechanical arm movement process is guaranteed.

The invention discloses an autonomous path planning method of a live-line working robot based on a point cloud. The method comprises the following steps: installing depth cameras at the ends of doublerobot arms; performing hand-eye calibration and base coordinate system calibration of the double robot arms to realize view sharing of the two cameras; controlling base joints of the double robot arms to rotate 360 DEG to acquire multiple frames of images; splicing the acquired images to obtain the complete environmental information of the workspace of the double robot arms; and planning the optimal non-collision movement path of the robot arms in real time by using an improved path planning algorithm, and adding the path to a database. The depth cameras are installed at the ends of the robotarms by adopting an eye-to-hand installation method, and combined with the kinematic model of the robot arms, a three-dimensional point cloud image of the entire operating environment is built, so that the system has the ability to sense environmental obstacles; and the improved path planning algorithm ensures that the robot arms do not collide with obstacles, and also the optimal movement path of the robot arms can be planned in real time.

The invention discloses a live-line work scene electric power part three-dimensional reconstruction method based on point cloud. The method comprises the following steps: establishing a live-line workscene electric power part model library in an offline environment; acquiring point cloud data of a live working scene from multiple angles through point cloud data acquisition equipment, and carryingout pre-processing operation on the point cloud data through filtering; Registering the preprocessed point cloud data through a coarse registration and accurate registration method; And segmenting the point cloud data after registration by using a segmentation algorithm to obtain a point cloud cluster of a single target object, and finally completing the recognition of the three-dimensional pointcloud. According to the invention, point cloud registration is carried out after filtering processing is carried out on point cloud data obtained from different angles; Three-dimensional modeling ofelectric power operation parts can be achieved after point cloud splicing, segmentation and other operations, discrete points and noise points of point cloud data are removed through filtering, and finally the obtained point cloud data are processed and finally three-dimensional reconstruction of an electric power operation scene is completed.

The invention relates to shielding clothing for alternating high voltage electrification operations, which is especially suitable to be used by the operation persons for electrification operation on electric devices with super high voltages of 1000kV and comprises a coat and trousers. The invention is characterized in that: the invention also comprises a cap, a shielding mask, a conductive torch and conductive socks, wherein the connected relation of the parts is that: the cap, coat and the trousers of the shielding clothing are connected into an integrated clothing, the shielding mask is connected with the cap by use of metal buttons, the conductive torch is connected to the sleeve mouth of the shielding clothing coat by use of a connection button, the conductive socks are connected to the trousers mouths of the integrated clothing; the cloth materials of the cap, coat, trousers, conductive glove and the conductive socks are made by doubler-twister process on the yarns which are blended by stainless steel material fiber and flame-proof fiber, wherein the stainless steel material fiber content is 40 % to 50 %. The invention solves the problems of the field and current protection on the operation persons and generates no discomfort and avoids the casualties caused by the secondary accident caused by sudden stimulation.

The invention discloses a safety evaluation system and method of live-line work equipotential entry paths. According to the system and method, the whole process of equipotential entry is displayed in a three-dimensional scenario; safety distance between a body of an operator and a live part, smallest distance between the equipotential work operator and adjacent-phase wires and a combined interval of the equipotential work operator entering and leaving an electric field are dynamically calculated; safety evaluation on equipotential entry paths is achieved. The safety evaluation system and method of live-line work equipotential entry paths has the advantages that entering equipotential paths in live-line work can be visually and automatically evaluated, work of hand computation is reduced, efficiency is improved, and better visual is achieved.

The invention discloses a circuit protection method which comprises the steps of obtaining a detection signal which is output by a moisture detection device, wherein the moisture detection device is located at the input and output joint; judging whether the detection signal exceeds a trigger threshold value; when the condition that the detection exceeds the trigger threshold value is judged, triggering an outage control signal to a power source control device. According to the circuit protection method, an external circuit is enabled to stop working due to outage and is prevented from being short-circuited to damage a circuit board and circuit elements due to water entrance under an electriferous working state. The invention also discloses a device for realizing the method and terminal equipment.

The invention discloses a smart storehouse management system for live-line work tools. The smart storehouse management system comprises a storehouse monitoring system and a centralized control system which is in communication connection with and controls the storehouse monitoring system. The storehouse management system comprises a tool monitoring unit which comprises electronic labels for storing identity information of tools, and probes for detecting the electronic labels and identifying stored information of the electronic labels, wherein the electronic labels are arranged on the tools, the probes are placed on the positions where the tools are put, and the electronic labels correspond to the probes one by one. The probes are in communication connection with the centralized control system through an external communication interface. The management system can be used to individually, effectively and accurately manage and monitor tools in tool cabinets in one or more power stations or power supply stations, and smart detection and adjusting of the environment of the tool cabinets can be realized. The intelligent level and the reliability are high. The work burden of electricity operation workers can be reduced greatly. The smart storehouse management system is applicable to practical use, ensures safety and standard management of tools, and further guarantees the construction safety of workers.

The invention discloses an AC high voltage live line work shielding thermal insulation suit, belonging to the live line work shielding suit. A cap, a coat and trousers are connected together to form Siamese clothes, two gloves are connected with the cuffs of the coat of the Siamese clothes through electric conductors, conductive socks are connected with the trousers bottoms of the trousers of the Siamese clothes through electric conductors; each part of the shielding thermal insulation suit adopts four-layer structure, the outermost layer is conductive cloth, the second layer is flame-resistant cloth, the third layer is carbon fiber thermal insulation mat, the innermost layer is lining cloth; and the second layer flame-resistant cloth and the third layer carbon fiber thermal insulation mat compose a thermal insulation flame-resistant layer. The beneficial effect of the invention is as follows: the shielding thermal insulation suit can protect people from high voltage electric field and current and can protect people from a high temperature of about 200 DEG C. Therefore, the suit can meet the working demands of electrified lead-repairing and other equipotential on the high voltage electric power line of the rate capacity lead.

The invention relates to a live-line overlap joint and drainage wire dismounting work apparatus for a 10-kV line and a method thereof. The apparatus comprises a WSM breaking wire clamp and a live-line work insulation operation tool. The apparatus has the following beneficial effects: with the WSM breaking wire clamp, the drainage wire and the main lead are broken and fixed and live-line work can be carried out by using an insulation operation rod; the overlap joint and drainage wire dismounting work can be carried out on the 10-kV distribution line without the need of power interruption, so that the working efficiency is improved the work labor intensity is reduced, and the transport and manual costs of corresponding projects of the distribution line live-line work can be lowered; the personal risk of the operator is minimized, the working time is substantially reduced, the working cost is also lowered, and the working efficiency is improved; the live-line insulation operation tool is suitable for ideal working at multiple places for operation, the insulation distance is enough, the operation is convenient, the operator can carry out work safely and easily, and the construction process becomes reliable; and the working requirement obtained by using the method can be dismounted in a live-line mode conveniently; and the equipment can work without the need of power interruption.

The invention discloses a special tool of live line work for replacing a rectilinear insulator string of a large-section double multiple wire, which comprises an insulated wire lifting rope, an insulated rope pulley adjuster, wire hooks, a nut screw-rod rope tensioning device and a fixed base, wherein the fixed base is sheathed on a screw rod of the nut screw-rod rope tensioning device and moves relative to the screw rod; the lower end of the screw rod is connected with the insulated rope pulley adjuster; the insulated rope pulley adjuster is provided with a fixed pulley; after the wire lifting rope bypasses the fixed pulley of the insulated rope pulley adjuster, both ends of the wire lifting rope are provided with the wire hooks; and the fixed base is provided with a positioning locking device matched with cross arm angle iron. The insulated tool has the advantages of good electric properties, high mechanical strength, high safety factors and vertical arrangement, and is suitable for 220kV double multiple wires, rectilinear single and double string insulators of which the interval between the upper strand and the lower strand is 600 mm, and various other 220kV rectilinear type.

A live line working insulation platform is comprised by fix-connecting a mounting platform 1, insulator support pillars 2, a connecting platform 3 together by a bolt 5 and a bolt 4 electrification; the mounting platform and the connecting platform is constructed by frames made by welding metal sections or can be substituted by flat plate made of metal or nonmetal; the insulator pillars of different standards can fit to the insulation requirements of different distribution wire working voltage grades such as 10KV, 35KV and the like. The insulation platform has strong bearing capacity, and on which it is safe and reliable to live line work, and is fit for either human or live line working robot executing the live line work on ground or aloft; and has simple structure and low cost.

The invention provides a tension insulator replacing method of a live-line work robot. The live-line work robot comprises a mechanical arm arranged on a robot platform. The mechanical arm comprises a first mechanical arm, a second mechanical arm and an auxiliary mechanical arm. The first mechanical arm, the second mechanical arm and the auxiliary mechanical arm respond to finishing of replacing of the tension insulator by the control data, wherein the control data is an angle expected value of joint movement of each mechanical arm. During the shaking operation, the data processing and the control system carries out resolving according to each joint angle change data of a main manipulator, so the angle expected values are acquired. During autonomous working, the data processing and control system plans out a space path of each mechanical arm by using the Cartesian space route planning method, and the resolves the angle expected value of the joint movement of each mechanical arm. According to the invention, the tension insulator can be changed through the mechanical arm of the live-line work with no need to cut off the electricity and carry load.

A moveable insulating platform for high-altitude live-line work, composed of an engineering truck 1 and a lifting arm 2 equipped on the engineering truck, characterized in that a live-line work platform 3 is equipped on the top of the lifting arm, and the insulating platform is composed by fixedly connecting a mounting platform 6 with a connecting platform 4 together through insulator supports 5. The mounting platform is isolated from the ground by the insulator supports, insulator supports with different specifications can meet the insulating demands of 10KV~35KV different distribution wire work voltage classes, therefore, the live-line work on the platform is safe and reliable. The lifting arm has a rigid structure and an improved bearing load, and can meet the demand of performing high-altitude live-line work with large-scale equipments.

The invention relates to the technical field of power equipment reliability evaluation technology and more particularly to a DC integrated test platform, which comprises a first upper computer, a second upper computer, an integrated testing module, an insulation checking module, a grounding parameter checking module, a data communication interface and a power supply module. The first upper computer is used for controlling the integrated testing module, the insulation checking module and the grounding parameter checking module via the grounding parameter checking module and conducting the analysis treatment on acquired and returned data. The integrated testing module is used for testing input and output voltage and current, acquiring ripple factors, conducting the analysis treatment and uploading data to the first upper computer. According to the technical scheme of the invention, the modules can be integrated together to run or separately operated. By means of the test platform, grounding fault points can be quickly found out by utilizing the grounding fault leakage current, without the need of powering off a line, wiring or disassembling wires in the charged operating state of the line. Therefore, the down-time of the equipment of automation and electrification systems is greatly reduced, so that great economic benefits and social benefits are generated.

The invention discloses an electricity approach alarming method and device. The method comprises that the electric field intensity at the boundary of the maximal safety distance of an electrified body to be measured is set as the threshold of the electric field intensity in advance; electric field signal of different parts of the human body are received, and the electric field intensities of the different parts of the human body are measured; electric field intensities of the different parts of the human body are corrected, and whether the corrected electrify field intensities are greater than the threshold of the electric field intensity is determined; and if the corrected electrify field intensities are greater than the threshold of the electric field intensity, alarm is raised against exceeding of the safety distance limit. According to the electricity approach alarming method, the electric field is corrected by setting the weight, and influence of human body induction and electric field sensors on the precision of the electric field measurement is eliminated; the different weights are set to measure the electric field intensities of the different parts of the human body and the distance to the electrified body, so that the field intensity and safe distance are measured at the same time; and functions of portable equipment are integrated, load of maintenance staff can be alleviated in the live-line work process, and the working efficiency is improved.

The invention discloses an autonomous online-offline device for a robot in live-line work. The autonomous online-offline device comprises a robot carrying platform; the robot carrying platform comprises a carrying platform main body, a robot fixing platform, telescopic equi-potential hand-grips, a tumbling pulley suspension device, an insulation rope pushing device, a balance control device and a robot locking device, wherein the robot fixing platform is arranged above the carrying platform main body to parallel to the same and is connected with the carrying platform main body through a fixing platform rotation device, so that the robot fixing platform can rotate relative to the carrying platform main body; the robot locking device for fixing the robot in live-line work is installed at the middle part of the upper side of the robot fixing platform; the equi-potential hand-grips are installed on the carrying platform main body; the equi-potential hand-grips and the carrying platform main body are in perpendicular arrangement, and the equi-potential hand-grips are symmetrically arranged at the left side and the right side of the robot locking device so that the hand-grips of the equi-potential hand-grips directly face a high-voltage power transmission line. By using the method disclosed by the invention, the whole process of the online/offline of the robot in live-line work is realized, and the online overhauling efficiency and the practical level of the robot in live-line work are realized.

The invention provides a robot live-line work control method based on a virtual reality system. According to the robot live-line work control method, the virtual reality system and an actual operationsystem are included; the robot live-line work is combined with the virtual reality technology; an operator mainly undertakes the task to operate virtual reality software, that is, the operator performs teleoperation on a robot or enables the robot to work autonomously; the virtual reality system acquires feedback information and builds a virtual three-dimensional scene; the operator establishes the preliminary operation process by analyzing the vivid virtual three-dimensional scene, and then performs the simulation operation through a simulation system, so that the maloperation can be avoided; under the circumstance that the simulation operation is correct, the operator can remotely control the robot through a teleoperation system or issue an autonomous operation instruction so as to enable the robot to complete the operation process autonomously; and during the operation process, the steps of modeling, rendering and three-dimensional reconstruction are continuously executed in the system, so that the real-time performance and the operability of the system can be ensured.

The invention discloses a safety evaluation method and system for live work of an extra-high voltage direct current transmission line. The calculation process has higher reliability, and the evaluation result can accurately reflect the comprehensive influence of all influencing factors on the evaluation result. The method includes: establishing a multi-level fuzzy comprehensive evaluation model of factor sets; stratifying each factor according to the subordination relationship between the factors in the factor set and constructing a weight set and a corresponding priority relationship matrix; establishing a fuzzy consistent unit according to the factor set Factor evaluation matrix; establish fuzzy comprehensive evaluation set according to factor set, weight set and single factor evaluation matrix; obtain multi-level fuzzy comprehensive evaluation results according to fuzzy comprehensive evaluation set.

The invention discloses a charging device for portable electronic products. The charging device for the portable electronic products includes a power converting module providing direct current, a charging board connected with direct current and a charging base connected with the electronic products. The charging board is composed of a substrate, and positive electrode plates and negative electrode plates both embedded in the substrate. The charging base is provided with a base board. A plurality of contacts capable of contacting with the positive electrode plates and the negative electrode plates are arranged on the lower surface of the base board. The contacts are connected with a rectifying circuit. An output terminal of the rectifying circuit is connected with charging plugs. The charging plugs can be in plug-in connection with charging sockets of the electronic products for charging. When using, the electronic products can be charged after being connected with the charging base and disposed on the charging board, so that the charging device for the portable electronic products can be used very conveniently. Not much effort needs to pay for connecting the electronic products with the charging plugs, so that the charging device for the portable electronic products is suitable for people with poor eye sight. By using the charging device for the portable electronic products, needs for preparing different kinds of charging devices are removed, so that the charging device for the portable electronic products facilitates storage and management. And the charging device for the portable electronic products can be used for charging the portable electronic products of the same specification or different specifications at the same time. The charging device for the portable electronic products has a safety protection function. The charging board is electrically neutral when no electronic product is being charged and is electrified for working when the electronic products are disposed on the charging board, so that the charging device for the portable electronic products is very safe in use.

The invention relates to a method for performing equipotential live line work by putting a +/-800kV tangent tower electric transmission line into an electric field. The method comprises the following steps: a ground potential electrician suspends an insulating flexible ladder on a tower ground wire, and an equal potential electrician climbs onto the flexible ladder from the cross arm side of a live wire; a ground cooperation person drags the tail end rope head of the flexible ladder to drive the insulating flexible ladder to slide along a ground wire in order that the equal potential electrician stops at a position opposite to a wire live line work area; the equal potential operator climbs to a position, which is parallel to shoulders, on the live wire along the flexible ladder; after an electric field entrance command is received, the ground cooperation person drags the rope head of the flexible ladder in a direction vertical to the ground wire in order to drive the flexible ladder to swing towards the live wire on the inner side of the ground wire; the equal potential electrician rapidly gets close to the live wire by adopting a potential shifting bar and swings inwards into a strong electric field. By adopting the method, the live line work can be performed at any position of the electric transmission line, and the physical output is low in the whole process; the method is easy to implement.

The invention relates to a method for remotely operating a recloser soft pressing plate. The method comprises the following control steps: step 1, taking the soft pressing plate as a remote signaling point and transmitting the state to a device as a time manner; directly realizing remote switching by a remote control network and a digital channel, and judging and monitoring the state; step 2, modifying and configuring a remote transmission database; increasing remote control and remote signaling information quantity of a protection equipment soft pressing plate; step 3, carrying out a remote switching-off test on a spare power automatic switching function soft pressing plate; and step 4, quitting a debugged feeder line protection measuring and controlling device. A recloser is switched off through relay protection remote operation, and circuit electrified work is changed into a single circuit field working mode from original power transformation field and circuit field, so that the operation and management cost of a power grid is reduced; the labor intensity of operation and maintenance workers is alleviated, the power supply reliability is improved and the operation efficiency of the power grid is improved.