摘要：【中文】本发明涉及一种配电网单相接地故障时零序电流暂态起始点获取方法，包括：采用PMU和暂态录波型故障指示器以相同采样频率分别对变电站出线端及各支线进行交流采样；当单相接地故障发生后，PMU及暂态录波型故障指示器将故障录波波形上传主站；主站解析PMU上传的母线零序电压波形，通过周期比幅法查找到零序电压突变点位置；通过时间换算获取到暂态录波型故障指示器零序电流暂态起始点位置。本发明将高频不稳定的暂态录波型故障指示器零序电流信号暂态起始点获取转化为低频稳定的PMU零序电压信号突变点获取，降低了错误概率，提高了获取准确度。 【EN】The invention relates to a method for acquiring a transient initial point of a zero-sequence current during single-phase earth fault of a power distribution network, which comprises the following steps: respectively carrying out alternating current sampling on the outgoing line end and each branch line of the transformer substation by adopting a PMU (power management unit) and a transient recording type fault indicator at the same sampling frequency; when a single-phase earth fault occurs, the PMU and the transient recording type fault indicator upload a fault recording waveform to the main station; the master station analyzes the bus zero-sequence voltage waveform uploaded by the PMU, and finds out the position of a zero-sequence voltage break point by a period amplitude comparison method; and obtaining the position of a zero sequence current transient starting point of the transient recording type fault indicator through time conversion. According to the method, the acquisition of the transient initial point of the zero-sequence current signal of the transient recording wave type fault indicator with unstable high frequency is converted into the acquisition of the mutation point of the zero-sequence voltage signal of the PMU with stable low frequency, so that the error probability is reduced, and the acquisition accuracy is improved.

摘要：【中文】本发明涉及一种基于有源补偿互感器及三相源的电力设备测试方法，包括在三相源的输出端增加有源补偿电流互感器，所述有源补偿电流互感器的数量根据三相源的单相电流最大带载负荷确定；电流互感器的一次侧线圈进行串接后再与标准表、录波仪以及三相源串接，电流互感器的二次侧线圈连接待测设备。本发明所述的基于有源补偿互感器及三相源的电力设备测试方法，通过电流互感器进行有源补偿，保证一次侧电流和二次侧的电流一致，并添加补偿电路，减小电流传输中减损的误差，解决了实验室测试存在误差的问题。 【EN】The invention relates to a power equipment testing method based on an active compensation mutual inductor and a three-phase source, which comprises the steps of adding active compensation current mutual inductors at the output end of the three-phase source, wherein the number of the active compensation current mutual inductors is determined according to the maximum load of single-phase current of the three-phase source; and a primary side coil of the current transformer is connected in series and then connected in series with the standard meter, the wave recorder and the three-phase source, and a secondary side coil of the current transformer is connected with the equipment to be tested. According to the power equipment testing method based on the active compensation mutual inductor and the three-phase source, active compensation is performed through the current mutual inductor, the consistency of the primary side current and the secondary side current is ensured, the compensation circuit is added, loss reduction errors in current transmission are reduced, and the problem that errors exist in laboratory tests is solved.

摘要：【中文】一种智能配变终端智慧运维系统，可解决电力行业现场工作量大、维护成本较大的技术问题。基于配电变压器监测终端，硬件模块包括交换机、充电式路由器和安装软件APP模块的手持终端；交换机与配电变压器监测终端通过网线连接，充电式路由器与交换机通过网线连接，手持终端通过无线WIFI与充电式路由器连接；软件APP模块包括TTU基本配置模块、TTU地址配置模块、TTU系统配置模块、TTU无线通信配置模块、TTU业务功能测试模块。本发明可以有效避免爬杆带来的风险，可以通过人机交互方式实现TTU系统版本更新以及参数的配置，避免用户需要操作多个上位机软件来实现系统文件导入，能避免用户通过指令来执行系统相关的更新操作；总之本发明可减少用户工作量，节约时间。 【EN】An intelligent operation and maintenance system of an intelligent distribution transformer terminal can solve the technical problems of large field workload and high maintenance cost in the power industry. Based on a distribution transformer monitoring terminal, a hardware module comprises a switch, a charging type router and a handheld terminal provided with a software APP module; the switch is connected with the distribution transformer monitoring terminal through a network cable, the rechargeable router is connected with the switch through the network cable, and the handheld terminal is connected with the rechargeable router through wireless WIFI; the software APP module comprises a TTU basic configuration module, a TTU address configuration module, a TTU system configuration module, a TTU wireless communication configuration module and a TTU service function test module. The invention can effectively avoid the risk brought by climbing poles, can realize the version updating and parameter configuration of the TTU system in a man-machine interaction mode, avoid the condition that a user needs to operate a plurality of upper computer software to realize the import of system files, and can avoid the condition that the user executes the related updating operation of the system through instructions; in a word, the invention can reduce the workload of the user and save time.

摘要：【中文】本发明的一种高效率取电整流与保护电路，可解决现有的整流和保护电路存在整流桥损耗较大，效率较低的技术问题。本发明基于设备互感器，包括所述电路包括双向瞬态抑制保护二极管VD1和VD2、肖特基二极管整流电路、高效率整流辅助电路、电解电容C1、电压比较器U1及控制电路；所述双向瞬态抑制保护二极管VD1，VD2分别于互感器两端AC_L，AC_N相连，而另一端接地；本发明高效率取电整流与保护电路，与传统配网设备相比，可以大大增加取电效率，结果大为简化，体积显著减小，保护速度投入极快，发热量较小。 【EN】The invention discloses a high-efficiency power-taking rectifying and protecting circuit which can solve the technical problems of large loss of a rectifying bridge and low efficiency of the conventional rectifying and protecting circuit. The invention is based on an equipment mutual inductor, which comprises a circuit, a voltage comparator U1 and a control circuit, wherein the circuit comprises bidirectional transient suppression protection diodes VD1 and VD2, a Schottky diode rectifying circuit, a high-efficiency rectifying auxiliary circuit, an electrolytic capacitor C1 and the voltage comparator U1; the bidirectional transient suppression protection diodes VD1 and VD2 are respectively connected with the two ends AC _ L and AC _ N of the mutual inductor, and the other end of the bidirectional transient suppression protection diodes is grounded; compared with the traditional distribution network equipment, the high-efficiency power taking rectifying and protecting circuit can greatly increase the power taking efficiency, greatly simplify the result, obviously reduce the volume, have extremely high protection speed input and have smaller heat productivity.

摘要：【中文】本发明公开了一种移动机器人定位方法，属于移动机器人定位技术领域，包括将搭载二维激光雷达的机器人置于当前定位的环境中，并获取障碍物的地图点云；采用自适应蒙特卡洛定位算法，估计出机器人当前的位姿；利用机器人当前的位姿将二维激光雷达的实时数据转换为与地图点云同一坐标系下的点云PTCloud_scan；将每一帧点云PTCloud_scan作为迭代最近点的输入，得到当前帧点云PTCloud_scan相对于地图点云的旋转矩阵R和平移矩阵T；根据旋转矩阵R和平移矩阵T，计算出机器人最终的位姿。通过将采用自适应蒙特卡洛定位算法得到的位姿作为参考值变换二维激光雷达的点云坐标系，使其与当前的地图点云足够近，以加速迭代最近点的匹配速度，提高定位精度。 【EN】The invention discloses a mobile robot positioning method, which belongs to the technical field of mobile robot positioning and comprises the steps of placing a robot carrying a two-dimensional laser radar in a current positioning environment and acquiring a map point cloud of an obstacle; estimating the current pose of the robot by adopting a self-adaptive Monte Carlo positioning algorithm; converting real-time data of the two-dimensional laser radar into point cloud PTcloud under the same coordinate system with map point cloud by using the current pose of the robot_scan(ii) a Each frame of point cloud PTcloud_scanObtaining the current frame point cloud PTcloud as the input of the iteration closest point_scanA rotation matrix R and a translation matrix T relative to the map point cloud; and calculating the final pose of the robot according to the rotation matrix R and the translation matrix T. Transforming a two-dimensional laser beam by using a pose obtained by using an adaptive Monte Carlo localization algorithm as a reference valueThe obtained point cloud coordinate system is close enough to the current map point cloud so as to accelerate the matching speed of the iteration closest point and improve the positioning precision.

摘要：【中文】本发明公开了一种面向移动机器人的不停车控制方法及系统，属于移动机器人控制技术领域，移动机器人包括移动平台和多自由度机械臂，包括基于多自由度机械臂末端执行器的速度控制率，控制多自由度机械臂末端速度按照控制率下的速度进行运动；基于移动平台的速度控制率，控制移动平台与目标的相对位姿；将移动平台的速度作为控制量，采用前馈控制补偿方式，消除移动平台运动导致的所述多自由度机械臂末端的运动分量。本发明结合前馈控制与反馈控制的优点，降低移动平台运动对于机械臂末端运动的影响，可实现移动机器人的不停车作业。 【EN】The invention discloses a non-stop control method and a system for a mobile robot, belonging to the technical field of mobile robot control.A mobile robot comprises a mobile platform and a multi-degree-of-freedom mechanical arm, wherein the mobile robot controls the tail end speed of the multi-degree-of-freedom mechanical arm to move according to the speed under the control rate based on the speed control rate of an end effector of the multi-degree-of-freedom mechanical arm; controlling the relative pose of the mobile platform and the target based on the speed control rate of the mobile platform; and taking the speed of the mobile platform as a control quantity, and eliminating the motion component of the tail end of the multi-degree-of-freedom mechanical arm caused by the motion of the mobile platform by adopting a feedforward control compensation mode. The invention combines the advantages of feedforward control and feedback control, reduces the influence of the motion of the mobile platform on the motion of the tail end of the mechanical arm, and can realize the non-stop operation of the mobile robot.