Safe Distance Monitoring Of Manipulator Based On Power Frequency Electric Field Measurement Method

Power frequency electric field measurement is of great significance in the application of condition monitoring in high voltage transmission lines.The power frequency electric field is a relatively stable region vector,and the electric field distribution around the charged body can be used as the physical parameter to characterize the running status of the electric equipment.In other conditions remain unchanged,the distribution of power frequency electric field value changes with the voltage.According to the general law of electric field distribution,the magnitude of electric field has an important relationship with the distance.Accurately measuring the distribution of the electric field around the high-voltage charged body can indirectly reflect the distance between the electric field measurement point and the electric field source.However,due to the large number of on-site equipments in the transmission line,the distribution of the electric field has different degrees of distortion,which brings greater difficulty in measuring the accuracy of the electric field.Based on the above principle,in order to ensure that the mobile manipulator maintains a certain distance from the HV energized body during operation and maintenance of the power equipment,a method for monitoring the safety distance of the manipulator is proposed in this paper,and the monitoring device for the safety distance of the manipulator is designed.Based on the basic calculation formula of electric field calculation,this paper analyzes the application of Maxwell classical electromagnetic field calculation model in the calculation of electromagnetic field,introduces the general characteristics of power frequency electromagnetic field,and lists the calculation methods and formulas of electric field of transmission line.The principle of measurement of electrostatic field and power frequency electric field sensor is discussed in detail,and the difference and connection between electrostatic field measurement and power frequency electric field measurement are discussed.In this paper,the equipment model of transmission line is established.The distribution of electric field in electric equipment is analyzed by ANSYS Mawell electromagnetic field simulation software to calculate the critical electric field at high voltage with different voltage levels.According to the simulation results,the feasibility of monitoring the safety distance of the manipulator is analyzed.The hardware and software development of the safety distance monitoring device of the manipulator is completed according to the application requirements.At last,the device is tested.The test results show that the safety distance monitoring device of the mechanical arm can realize the alarm work in the dangerous area during the test,but the reliability and precision need to be further improved,the situation of false alarm occurs and the work performance needs to be further improved.