CN100462681C - High-voltage maintenance robot navigation method along transmission line - Google Patents

Abstract

Characters of the invention are that a series of electromagnetic sensor with same parameters are arranged on arm of robot; each set of sensor is arranged in coaxial; thus, spatial pose and state of each part in the robot to be controlled can be characterized by distance from set of sensor array in the part to power transmission wire in high voltage. Advantages are: simple implementation, cabinet structure, low cost, avoiding interference from strong electric field and magnetic field, simple control algorithm and easy of operation. With relevant facilities of robot being equipped, the invention can be in use for assistant accomplishing full automatic polling task along aerial power transmission wire in high voltage.

Description

The method that high-voltage maintenance robot navigates along transmission line of electricity

Technical field

The present invention relates to robot automatic job field, the air navigation aid of especially a kind of high-voltage maintenance robot when aerial high-voltage power transmission line is patrolled and examined operation automatically.

Background technology

In overhead power line inspection robot field, the people such as Montambault of the people such as Sawada of existing Tokyo Electric Power, U.S. TRC company, Quebec, CAN water power research institute (IREQ) have successively carried out the research work of inspection robot, but generally need artificial auxiliary during the work of the inspection robot of their development, maybe can only finish the inspection of power circuit between the two line towers, scope of work is little, and autonomous degree is low.Domestic have Wuhan University to carry out the research of the overhead power line inspection robot with walking and obstacle detouring function under 863 fund projects are subsidized, and applied for patent CN200410061316.8, CN200410061314.9, CN200320116267.4.

Inspection robot with walking and obstacle detouring function moves along overhead power line, cross over obstacles such as stockbridge damper, suspension insulator, wire clamp, shaft tower, therefore require its navigation sensor system to have autonomous overall station-keeping ability, provide suitable air navigation aid to become the major issue that needs to be resolved hurrily.Because inspection robot is operated under the field environment, be distributed with highfield and high-intensity magnetic field around its driving path ultra-high-tension power transmission line, make it very harsh to selecting for use of self-navigation sensor, that uses at present mainly contains vision sensor, sonac, laser range finder etc.Vision guided navigation has very high space and gray level resolution, and the scope of its detection is wide, precision is high, can obtain most information in the scene.Shortcoming is to be difficult to isolate from background the target that will survey, and for obstacle and background are separated, required image calculation amount is very big, causes the real-time performance of system relatively poor.And the measuring and calculating of sonac is not inconsistent apart from the positioning requirements with inspection robot, is unwell to field environment yet.Laser range finder installing and locating complexity, the cost costliness, bulking value is huge, and robot can't bear load.Must overcome the shortcoming of above-mentioned navigation sensor, seek the limitation that new air navigation aid breaks through prior art.

Summary of the invention

The method that provides a kind of high-voltage maintenance robot to navigate along transmission line of electricity at problems of the prior art is provided.

For realizing purpose of the present invention, the invention provides the method that a kind of high-voltage maintenance robot navigates along transmission line of electricity, the electromagnetic sensor of series of identical parameter is arranged on the arm of robot; Each organize sensor respectively coaxial cable arrange, and establish and respectively organize axis and be respectively l _A, l _B, l _CThe induction electromotive force that two ends produce of each cell winding is by following formula:

$\mathrm{\&epsiv;}=-\frac{\mathrm{d\&phi;}}{\mathrm{dt}}=-\mathrm{NS}\cos \mathrm{\&theta;}\frac{\mathrm{dB}}{\mathrm{dt}}=-\mathrm{NS}\cos \mathrm{\&theta;}*{\mathrm{\&mu;}}_0\frac{\mathrm{<figure-callout\; id="2"\; label="dI"\; filenames="C200510019930E00142.png"\; state="\{\{state\}\}">dI</figure-callout>}}{2\mathrm{\&pi;rdt}}---\left(1\right)$

And decide, ε is the induction electromotive force in the coil in the formula; φ is the magnetic flux by coil; S is that coil section is long-pending; θ is the normal of coil section and the angle of magnetic direction; N is the number of turn of coil; R is the distance that departs from lead; μ ₀Be permeability of vacuum;

According to formula (1), dI, the N, S, the θ that respectively organize sensor are all equated, promptly allow induction electromotive force ε only relevant with distance r, that is, the characterizing of sensor array group relatively high pressure transmission pressure that the spatial pose state of respectively waiting the position of robot can be by this position respectively allowed apart from r.

And, three groups of electromagnetic sensor A, B, C are set on each robot arm, realize identification with the sensor array group of forming to the high-voltage conducting wires pose; Meet the following conditions when making three groups of sensor array column distributions: l _ABe parallel to l _B, l _CPerpendicular to l _A, l _BDetermined plane and l _CWith l _A, l _BDistance equate that all the sensors all equates with the angle theta of high-voltage conducting wires in each group, and each electromagnetic sensor is separated by a distance.

And every group of m sensor determined 2m-3 point on its axis, and this 2m-3 the sensor axis of naming a person for a particular job is divided into 2m-2 interval, by the size of each sensor sensing electromotive force value of analog/digital conversion comparison, obtains maximum electromotive force ε _Max, inferior big electromotive force ε _SecPairing sensor number determines that high-voltage conducting wires projects to the zone on the sensor axis.

And, in the navigation algorithm, establish ε _{A max}, ε _{B max}, ε _{C max}The maximal value of representing A, B, C group sensor sensing electromotive force respectively, ε _{A sec}, ε _{B sec}, ε _{C sec}The second largest value of representing A, B, C group sensor sensing electromotive force respectively), the step of navigation calculating is as follows,

A. make by adjusting | ε _{A max}-ε _{B max}|＜critical value, then this moment high-voltage conducting wires and l _A, l _BDistance equates that promptly high-voltage conducting wires is similar to and is parallel to l _A, l _BDetermined plane.

B. ask for ε _{A max}, ε _{A sec}, ε _{B max}, ε _{B sec}The corresponding sensor numbering determines that high-voltage conducting wires projects to sensor axis l _A, l _BOn the zone, then this two interregional line scope is the regional extent of high-voltage conducting wires when projecting to the arm plane.

C. ask for ε _{C max}, ε _{C sec}The corresponding sensor numbering determines that high-voltage conducting wires projects to sensor axis l _COn the zone.Then this moment, sensor place area of space scope was unique definite.

In order to solve the difficult problem of prior art, it is that high-voltage maintenance robot navigates along the phase line of transmission line of electricity that the present invention adopts electromagnetic sensor, array of electro-magnetic sensors is set on robot arm, arrange between some groups of lane place of division according to the electromagnetic sensor in the array of electro-magnetic sensors, gather the induction information of array of electro-magnetic sensors, determine the high-voltage conducting wires region according to induction result and interval division, judge its spatial pose with respect to robot.Sensor construction is small and exquisite, in light weight, be convenient to install, and software processes is convenient, and is cheap.Induction high-voltage conducting wires position between dividing regions is easy to be reliable by arranging array of electro-magnetic sensors, utilizes electromagnetic sensor setting cleverly, has improved efficient and precision especially.This method is implemented simple, can avoid the interference of highfield, high-intensity magnetic field, and is practical.

Description of drawings

Fig. 1 is a principle of work synoptic diagram of the present invention;

Fig. 2 is the electromagnetic sensor gauge head synoptic diagram of the embodiment of the invention;

Fig. 3 A and Fig. 3 B are the electromagnetic sensor distribution schematic diagrams of the embodiment of the invention;

Fig. 4 is the interval division synoptic diagram of the specific embodiment of the invention;

Fig. 5 is the signal conditioning circuit figure of the specific embodiment of the invention.

Embodiment

Referring to Fig. 1, array of electro-magnetic sensors is set on robot arm, arrange between some groups of lane place of division according to the electromagnetic sensor in the array of electro-magnetic sensors, gather the induction information of array of electro-magnetic sensors, determine the high-voltage conducting wires region according to induction result and interval division, judge its spatial pose with respect to robot arm.Draw the spatial pose of high-voltage conducting wires,, get final product the spatial pose of each parts of unique definite robot, thereby navigate with respect to high-voltage conducting wires by the conversion of robot self attitude parameter with respect to robot arm.The navigational system of overhead power line inspection robot is except that electromagnetic sensor, also should set multicircuit switch, signal conditioning circuit, analog/digital (AD) change-over circuit, parts such as controller, because integrated circuit and programmable chip technology have been used quite ripely and extensive, the present invention will not give unnecessary details, the circuit schematic illustration that embodiment only is provided is for your guidance: referring to Fig. 5, because the induced electromotive force signal that electromagnetic sensor wire loop two ends produce is fainter, must increase its amplitude through amplifying, select for use LM324 as the amplifier chip, in 1～500 scope, regulate enlargement factor by adjustable resistance R3; For reducing electromagnetic interference (EMI), signal is carried out bandpass filtering, adopt second order voltage controlled voltage source bandwidth-limited circuit, the low-pass filtering of forming by C1 and R1 and the high-pass filtering cascade of C2 and R2 composition make centre frequency f ₀=50Hz, bandwidth B=10Hz; With two voltage stabilizing diode D1, D2 signal voltage is limited in the AD sample range at last.Select for use AD574AJD as the AD conversion chip.What obtain after the AD conversion is sinusoidal signal, extracts its peak value then.Controller can adopt PC104,89S51 single-chip microcomputer etc.The induction result of electromagnetic sensor is processed into numerical information through multicircuit switch, signal conditioning circuit and A/D convertor circuit, controller carries out navigation calculating according to numerical information, obtain behind the spatial pose of robot by the driver drives motor action of commander's basic machine.The position orientation relation of electromagnetic sensor monitoring body and environment feeds back to controller in the motion process, and then adjusts movement locus, and the electromagnetic navigation system of overhead power line inspection robot is achieved.

Referring to Fig. 2, the gauge head of electromagnetic sensor is have soft magnetic core close around telefault, and magnetic core can adopt soft magnetic materials such as iron, siliconized plate, permalloy, and the embodiment of the invention adopts common the close around telefault L of iron core that have.

Referring to Fig. 3 A, 3B, in order to respond to the locus of robot arm, the electromagnetic sensor of series of identical parameter is arranged on the arm of robot; Each organize sensor respectively coaxial cable arrange, and establish and respectively organize axis and be respectively l _A, l _B, l _CAccording to cut down law and Faraday's electromagnetic induction law than Austria-sand, is a sectional area S, the coil of N circle (normal of coil section and the angle of magnetic direction are φ) places the lead next door that is connected with exchange current of endless, and then the two ends of wire loop will produce induction electromotive force and press following formula:

$\mathrm{\&epsiv;}=-\frac{\mathrm{d\&phi;}}{\mathrm{dt}}=-\mathrm{NS}\cos \mathrm{\&theta;}\frac{\mathrm{dB}}{\mathrm{dt}}=-\mathrm{NS}\cos \mathrm{\&theta;}*{\mathrm{\&mu;}}_0\frac{\mathrm{<figure-callout\; id="2"\; label="dI"\; filenames="C200510019930E00142.png"\; state="\{\{state\}\}">dI</figure-callout>}}{2\mathrm{\&pi;rdt}}---\left(1\right)$

ε is the induction electromotive force in the coil in the formula, and unit is V; φ is the magnetic flux by coil, and unit is Wb; S is that coil section is long-pending, and unit is m ²θ is the normal of coil section and the angle of magnetic direction, and unit is rad; N is the number of turn of coil; R is the distance that departs from lead, and unit is m; μ ₀Be permeability of vacuum, get μ ₀=4 π * 10 ^-7, unit is N/A ²

According to formula (1), the angle theta of sectional area S, coil and the lead of the rate of change dI of electromagnetic sensor induction electromotive force ε and electric current, the number of turn N of coil, coil and coil and lead relevant apart from r.In order to simplify the relation of calculating ε and r, the inventor adopts " relative value detection " thinking, promptly design one group of sensor, its dI, N, S, θ are all equated, then ε is only relevant with r, that is, allow the characterizing of sensor array group relatively high pressure transmission pressure that the spatial pose state of respectively waiting the position of robot can be by this position respectively apart from r.That is to say that the sensor distance high voltage electricity transmission conductive wire of ε value maximum is nearest in this group sensor.With this relative value detection method, sensor array group reasonable in design, promptly can determine the pose state of high voltage electricity transmission conductive wire.

The embodiment of the invention has designed A, B, three groups of electromagnetic sensors of C on each robot arm, form the array of electro-magnetic sensors group, realizes the identification to the high-voltage conducting wires pose.The electromagnetic sensor number that each group adopts is counted m, and each organizes the m value can be different, for convenient best A, the B group of subsequent treatment is got identical value.During concrete enforcement, the m value is usually 3～15, and value is relevant with size sensor, mechanism size and accuracy of detection.Wherein, it is identical that each organizes the gauge head of electromagnetic sensor, and to guarantee to have identical N, S, in fact whole array of electro-magnetic sensors adopts identical sensor to realize easily; The central shaft conllinear of every group of electromagnetic sensor gauge head (is established its axis and is respectively l _A, l _B, l _C), guarantee that with this all the sensors gauge head equates with the angle of high-voltage conducting wires in each group.Because high-voltage conducting wires current changing rate dI is all identical to all the sensors, then every group of sensor meets the relative value testing conditions.DI, N, S, the θ of one group of electromagnetic sensor are all equated, and calculate r, can realize that in theory but inevitable more loaded down with trivial details, " relative value detection " is a kind of preferred version.

Three groups of electromagnetic sensors meet the following conditions when distributing: l _ABe parallel to l _B, l _CPerpendicular to l _A, l _BDetermined plane and l _CWith l _A, l _BDistance equate.This layout is in order to constitute a kind of three-dimensional coordinate system of reference when being convenient to calculate, so that according to the projection unique definite high-voltage conducting wires region of high-voltage conducting wires to each group electromagnetic sensor, judge its spatial pose with respect to robot.The embodiment of the invention is distributed in the both sides of robot arm with A, B component, and the C group is arranged (along the paw direction) perpendicular to orientation arm, can also exchange plane during enforcement, and A, B organize perpendicular to orientation arm.

In order to prevent to influence magnetic flux, will be spaced from each other certain distance between every two sensors gauge head by adjacent electromagnetic sensor.Adopt identical numerical value that spacing distance between the two sensors gauge head is set in one group of electromagnetic sensor, this numerical value is between 1mm～20mm.Spacing distance on the same group can be not different.

Navigation principle of the present invention is based upon on the basis of " relative value detection " principle and above-mentioned array arrangement method, and the near more induction electromotive force of every group of sensor middle distance high-voltage conducting wires is big more.With the group of the A in embodiment of the invention sensor is example, by m electromagnetic sensor A ₁～A _mForm, suppose wherein A _nNumber sensor sensing electromotive force is ε _n, the induction electromotive force maximal value is ε in the A group _{A max}, second largest value is ε _{A sec}, then:

1., if ε _n=ε _{A max}And ε _N-1=ε _N+1=ε _{A sec}, then show the high-voltage conducting wires distance A _nNearest and the A of sensor _nWith A _N-1, A _N+1Distance equates that promptly high-voltage conducting wires is at l _AOn be projected as A _nThe midpoint of sensor is designated as a _n

2., if ε _n=ε _N+1=ε _{A max}, then show the high-voltage conducting wires distance A _n, A _N+1Sensor is nearest and distance is equal, promptly at a _n, a _N+1The line midpoint is designated as a _{N (n+1)}

3., if ε _n=ε _{A max}, ε _t=ε _{A sec}, show that then high-voltage conducting wires is at A _nWith A _tThe zone is near A between the sensor _nSide, i.e. axis l _AGo up (a _n, a _Nt) interval, be designated as A _Nt

According to above rule, every group of m electromagnetic sensor can be determined 2m-3 point, and this 2m-3 electromagnetic sensor axis of naming a person for a particular job is divided into 2m-2 interval, and wherein the value of m is according to the accuracy of detection of concrete size sensor, mechanism size and needs and number is different.Referring to Fig. 4, m sensor of A group determined a in the embodiment of the invention ₁₂, a ₂, a ₂₃... a _{(m-1) m}This 2m-3 point is with axis l _ABe divided into A ₁₂, A ₂₁, A ₂₃... A _{(m-1) m}This 2m-2 interval; M sensor of B group determined b ₁₂, b ₂, b ₂₃... b _{(m-1) m}This 2m-3 point is with axis l _BBe divided into B ₁₂, B ₂₁, B ₂₃... B _{(m-1) m}This 2m-2 interval; The C group is same to be provided with.Change the relatively size of each sensor sensing electromotive force value by analog/digital (AD), obtain maximum induction electromotive force ε _Max, inferior big induction electromotive force ε _SecPairing sensor number can determine that high-voltage conducting wires projects to the zone on the sensor axis.

In order to determine the spatial pose of high-voltage conducting wires by electromagnetic sensor, also to carry out following navigation operations processing and (establish ε with respect to robot arm _{A max}, ε _{B max}, ε _{C max}The maximal value of representing A, B, C group sensor sensing electromotive force respectively, ε _{A sec}, ε _{B sec}, ε _{C sec}The second largest value of representing A, B, C group sensor sensing electromotive force respectively):

1., make by adjusting | ε _{A max}-ε _{B max}|＜critical value, then this moment high-voltage conducting wires and l _A, l _BDistance equates that promptly high-voltage conducting wires is similar to and is parallel to l _A, l _BDetermined plane.Adopting critical value is a kind of tolerance method, promptly works as ε _{A max}With ε _{B max}Difference we have just thought their approximately equals during less than critical value.Choosing of critical value is relevant with control accuracy, chooses for a short time when control accuracy requires when high critical value, and control accuracy requires when low critical value to choose greatly, be generally speaking less than 0.2 than fractional value.

2., ask for ε _{A max}, ε _{A sec}, ε _{B max}, ε _{B sec}The corresponding sensor numbering determines that high-voltage conducting wires projects to sensor axis l _A, l _BOn the zone, then this two interregional line scope is the regional extent of high-voltage conducting wires when projecting to the arm plane.

3., ask for ε _{C max}, ε _{C sec}The corresponding sensor numbering determines that high-voltage conducting wires projects to sensor axis l _COn the zone.Then this moment, electromagnetic sensor place area of space scope was unique definite.

Obviously, method provided by the invention can provide outstanding navigation feature for disclosed inspection robot with walking and obstacle detouring function among the patent CN200410061316.8, there are two arms (original text is called " forearm ") in this robot, therefore array of electro-magnetic sensors also should have two covers, is that robot provides navigation accurately when realizing that different arms are crossed barrier.Simultaneously, this method also is applicable to the inspection robot of other kinds, and no matter no matter whether the quantity of arm have and walk and the obstacle detouring function advancedly.

Claims (4)

1. a high-voltage maintenance robot is characterized in that along the method that transmission line of electricity navigates:

1.1 the electromagnetic sensor packet layout of series of identical parameter is constituted the sensor array group on the arm of robot, the electromagnetic sensor of each sensor array group coaxial cable is respectively arranged;

1.2 the induction electromotive force that two ends produce of the coil of each electromagnetic sensor is decided by following formula:

$\mathrm{\&epsiv;}=-\frac{\mathrm{d\&phi;}}{\mathrm{dt}}=-\mathrm{NS}\cos \mathrm{\&theta;}\frac{\mathrm{dB}}{\mathrm{dt}}=-\mathrm{NS}\cos \mathrm{\&theta;}*{\mathrm{\&mu;}}_0\frac{\mathrm{dI}}{2\mathrm{\&pi;rdt}}---\left(1\right)$

ε is the induction electromotive force in the coil in the formula; φ is the magnetic flux by coil; S is that coil section is long-pending; θ is the normal of coil section and the angle of magnetic direction; N is the number of turn of coil; R is the distance that departs from lead; μ ₀Be permeability of vacuum;

1.3 according to formula (1), dI, N, S, the θ of the electromagnetic sensor of each sensor array group are all equated, promptly allow induction electromotive force ε only relevant with distance r, that is, allow the characterizing of array of electro-magnetic sensors group relatively high pressure transmission pressure that the spatial pose state of respectively waiting the position of robot can be by this position apart from r;

1.4 electromagnetic sensor deployment scenarios according to the described sensor array group of step 1.1, the axis of each sensor array group is divided between several lane place, gather the induction information of the electromagnetic sensor of each sensor array group, determine that according to induction information high-voltage conducting wires is between the lane place on each sensor array group axis, judge the spatial pose of high-voltage conducting wires with respect to robot arm, and the conversion by robot self attitude parameter, can each parts of unique definite robot with respect to the spatial pose of high-voltage conducting wires.

2. high-voltage maintenance robot according to claim 1 is characterized in that along the method that transmission line of electricity navigates:

The concrete mode of electromagnetic sensor packet layout on the arm of robot with series of identical parameter in the step 1.1 is, on each robot arm, arrange three groups of electromagnetic sensor A, B, C, constitute three sensor array groups, the axis of establishing three sensor array groups is respectively l _A, l _B, l _C, the electromagnetic sensor deployment scenarios of sensor array group is met the following conditions: l _ABe parallel to l _B, l _CPerpendicular to l _A, l _BDetermined plane and l _CWith l _A, l _BDistance equate that all electromagnetic sensors of each sensor array group all equate with the angle theta of high-voltage conducting wires, and each electromagnetic sensor is separated by a distance.

3. high-voltage maintenance robot according to claim 1 and 2 is characterized in that along the method that transmission line of electricity navigates:

3.1 establishing the axis and the distance between high-voltage conducting wires of arbitrary sensor array group is r, if m electromagnetic sensor arranged in the sensor array group, then high-voltage conducting wires is projected in total 2m-3 the point of possible position and 2m-2 the interval on the sensor array group axis, determines the regular as follows of 2m-3 point and 2m-2 interval:

If m electromagnetic sensor of A group is followed successively by A ₁～A _m, A wherein _nNumber sensor is ε to the induction electromotive force of high-voltage conducting wires _n, the induction electromotive force maximal value is ε in the A group _Amax, second largest value is ε _Asec, then:

1., if ε _n=ε _AmaxAnd ε _N-1=ε _N+1=ε _Asec, then show the high-voltage conducting wires distance A _nNearest and the A of sensor _nWith A _N-1, A _N+1Distance equates that promptly high-voltage conducting wires is at l _AOn be projected as A _nThe midpoint of sensor is designated as a _n

2., if ε _n=ε _N+1=ε _Amax, then show the high-voltage conducting wires distance A _n, A _N+1Sensor is nearest and distance is equal, promptly at a _n, a _N+1The line midpoint is designated as a _{N (n+1)}

3., if ε _n=ε _Amax, ε _t=ε _Asec, show that then high-voltage conducting wires is at A _nWith A _tThe zone is near A between the sensor _nSide, i.e. axis l _AGo up (a _n, a _Nt) interval, be designated as A _Nt

According to above rule, the m of each a sensor array group electromagnetic sensor can be determined 2m-3 point, and this 2m-3 the electromagnetic sensor axis of naming a person for a particular job is divided into 2m-2 interval;

3.2,, obtain maximum electromotive force ε by the size of the induction electromotive force value in the coil of electromagnetic sensor in each sensor array group of analog/digital conversion comparison according to step 3.1 _Max, inferior big electromotive force ε _SecPairing sensor number determines that high-voltage conducting wires projects to position or the zone on the sensor axis.

4. high-voltage maintenance robot according to claim 3 is characterized in that along the method that transmission line of electricity navigates: in navigation algorithm, establish ε _Amax, ε _Bmax, ε _CmaxThe maximal value of representing the induction electromotive force in the coil of A, B, C group electromagnetic sensor respectively, ε _Asec, ε _Bsec, ε _CsecRepresent the second largest value of the induction electromotive force in the coil of A, B, C group electromagnetic sensor respectively, the step of navigation calculating is as follows:

A. make by adjusting | ε _Amax-ε _Bmax|＜critical value, then this moment high-voltage conducting wires and l _A, l _BDistance equates that promptly high-voltage conducting wires is similar to and is parallel to l _A, l _BDetermined plane;

B. ask for ε _Amax, ε _Asec, ε _Bmax, ε _BsecThe corresponding sensor numbering determines that high-voltage conducting wires projects to sensor axis l _A, l _BOn the zone, then this two interregional line scope is the regional extent of high-voltage conducting wires when projecting to the arm plane;

C. ask for ε _Cmax, ε _CsecThe corresponding sensor numbering determines that high-voltage conducting wires projects to sensor axis l _COn the zone.Then this moment, sensor place area of space scope was unique definite.

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