CN103921272A - Insulator string intelligent detection robot and control method thereof - Google Patents
Insulator string intelligent detection robot and control method thereof Download PDFInfo
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Abstract
The invention discloses an insulator string intelligent detection robot and a control method thereof. The insulator string intelligent detection robot comprises a mechanical structure, an electrical control system and a detecting system, wherein the electrical control system and the detecting system are installed on the mechanical structure and mutually connected, two motors are disposed on the mechanical structure, the mechanical structure comprises two motor shafts and two supporting seats, the supporting seats comprise two supporting boards which are fixed through a supporting frame, two ends of the motor shaft a are installed at two ends of the two supporting seats respectively, and two ends of the motor shaft b are installed at other two ends of the two supporting seats respectively. According to the insulator string intelligent detection robot and the control method thereof, double-shaft differential control is utilized, a classic proportion integration differentiation (pid) speed closed-loop control strategy is used for each shaft, an included angle formed when two arms of the robot contact with insulator pieces is always smaller than 90 degrees, the adaptability of the intelligent insulator detection robot to the operating environment is improved, faults of getting stuck or falling off when the robot is in operation can be avoided, and the adaptability of the insulator string detection robot to the operating environment is enhanced.
Description
Technical field
The present invention relates to robot motion's control technology field, relate in particular to a kind of insulator chain Intelligent Measurement robot and control method thereof.
Background technology
Along with the development of China's power system, power grid security, stable operation more and more come into one's own.Especially in the super-pressure of greatly developing in recent years, system for ultra-high voltage transmission, the safe operation of insulator has directly determined investment and the level of security of whole system, for guaranteeing the electrical safety of ultra-high-tension power transmission line, in ultra-high-tension power transmission line operation, use after a period of time, the electric property that needs detection line, the insulation safety performance of insulator particularly, the generation of the phenomenon such as prevent short circuit or open circuit.
Traditional porcelain insulator string detection mode is for manually stepping on tower height idle job, along with electric pressure improves, insulator chain length constantly increases, the difficulty of manual detection operation is increasing, therefore develop and can, along the porcelain insulator string insulator charged detection robot of walking automatically, become the effective way of current insulation EHV Transmission Line Insulator performance band electro-detection.
In prior art, the installation of insulator chain Intelligent Measurement robot as shown in Figure 4, a axle initial position detecting sensor installation site and b axle initial position detecting sensor installation site angle in space coordinates is in 90 °, and b starts slowly run position sensor installation site and b and starts high speed rotating position sensor installation position and be set to parastate and all acutangulate α angle with X-axis.
In prior art, the control method of insulator chain Intelligent Measurement robot,
Step 1: described electric control system is sent driving signal to motor, control motor shaft a and motor shaft b turn to make two motor shafts with climbing arm angle original state at an angle of 90, as shown in Figure 5;
Step 2: described electric control system adopts the control signal of the affiliated motor of pid control algolithm output motor axle a, controlling driven by motor motor shaft a at the uniform velocity rotates with angular speed v, same electric control system adopts pid control algolithm to control motor shaft b rotation with the angular speed v identical with motor shaft a, controlling like this climbing arm on motor shaft a and the climbing arm right angle in 90 ° alternate run on motor shaft b, there is interruption of service in so same Hui Shi robot.Therefore the simple initial angle of rotation that makes motor shaft a and motor shaft b can not change the adaptability to environment of insulator detecting robot.
Existing suspension insulator detects robot and in use has great risk, consider abundant not, for example, in testing process, because construction error or insulating trip self error change the spacing between every group of insulator chain sheet and sheet in certain scope, twin shaft climbing arm angle is generally in 90 °, this angle is the angle in the desirable running status of insulator detecting robot, but according to experimental results show that owing to having error between insulator sheet, moreover owing to not having fine control algolithm to guarantee the operation that robot stabilized adaptability is stronger, insulator detecting robot may be stuck on insulator chain can not be moved, departing from most serious of all insulator chain falls cause electric power accident to circuit.
Summary of the invention
Object of the present invention is exactly in order to address the above problem, a kind of insulator chain Intelligent Measurement robot and control method thereof are provided, adopting Double-shaft differential controls, every axle adopts classical pid speed closed loop control strategy, make the angle of robot when two arm contact insulator sheets be less than all the time 90 °, making Intelligent insulation detect robot adapts to and strengthens running environment, when avoiding robot operation, occur blocking or release failure generation, there is reinforced insulation string and detect the adaptability advantage of robot to running environment.
To achieve these goals, the present invention adopts following technical scheme:
A kind of insulator chain Intelligent Measurement robot, comprise frame for movement, electric control system and detection system, described electric control system and detection system are all arranged in frame for movement, described electric control system and detection system interconnect, in described frame for movement, be also provided with two motors, described frame for movement comprises two motor shafts and two supporting seats, described supporting seat comprises two gripper shoes of fixing by bracing frame, the two ends of motor shaft a are arranged on respectively two supporting seat two ends, the two ends of motor shaft b are arranged on respectively the other two ends of two supporting seats, described detection system detect motor shaft with the angle of inclination of climbing arm.
Described detection system comprises that a axle initial position detecting sensor, b axle initial position detecting sensor, b start high speed rotating position sensor, b starts the position sensor that slowly runs, a axle initial position detecting sensor and b start high speed rotating position sensor and are installed on the first limit base, b axle initial position detecting sensor and motor shaft b start the position sensor that slowly runs and are arranged on the second limit base, once detection system detects corresponding positioning table, positional information just will be detected and pass to electric control system and carry out analyzing and processing and realize intelligent speed changing and control.
Described electric control system is sent driving signal to two motors, and two motors are controlled respectively the rotation of corresponding motor shaft a and motor shaft b.
Described the first limit base is arranged on one end of motor shaft a, and described the second limit base is arranged on one end of motor shaft b, and the two ends of described motor shaft a and motor shaft b are all provided with climbing mechanism, and the outside of the climbing mechanism on described each motor shaft is also provided with transmission mechanism.
Described climbing mechanism comprises a jib, climbing arm and roller, and described jib is fixed on motor shaft, and described jib two ends connect respectively climbing arm, and the end of described each climbing arm connects roller;
Described transmission mechanism comprises gear wheel and pinion, and gear wheel is fixed on motor shaft, pinion and gear wheel engagement, and pinion is connected with motor.
Described each supporting seat inner side is provided with motor, and described motor is fixed on motor cabinet, and described motor cabinet is fixed on supporting seat; Between described limit base and a jib, positioning table is installed;
Described motor shaft is fixed on supporting seat by bearing, and described bearing outside is provided with bearing (ball) cover, and described bearing (ball) cover outside is provided with hubcap;
Described a axle initial position detecting sensor installation site and b axle initial position detecting sensor installation site angle in space coordinates is in 90 °, and b starts the installation site of the position sensor that slowly runs and installation position that b starts high speed rotating position sensor and is set to parastate and all acutangulates α angle with X-axis.
The control method that described a kind of insulator chain Intelligent Measurement robot adopts, mainly comprises the following steps:
Step (1): described electric control system is sent driving signal to motor, control motor shaft a and motor shaft b turn to make two motor shafts with climbing arm angle original state at an angle of 90;
Step (2): control motor shaft b by described electric control system and rotate in original state, making the subsidiary climbing arm angle of the subsidiary climbing arm of motor shaft b and motor shaft a be less than 90 °, to be angle be (90-α) °;
Step (3):
Described electric control system adopts the control signal of the affiliated motor of pid control algolithm output motor axle a, and control driven by motor motor shaft a and at the uniform velocity rotate with angular speed v,
Described electric control system adopts the control signal of the affiliated motor of pid control algolithm output motor axle b, controlling driven by motor motor shaft b rotates, the change of the angular velocity of rotation by motor shaft b, will the original region that be divided into equally two angular speed rotating speeds rotations of speed with motor shaft a angular speed v uniform rotation rotary area, and then the angle while realizing the climbing arm of robot motor's axle a and the climbing arm contact insulator of motor shaft b remains it is (90-α) °; The operation angle in the slow angular speed of motor shaft b district is (90-α) °; The operation angle in the fast angular speed of motor shaft b district is (90+ α) °;
Step (4):
Through speed, twice speed adjustment completes a speed alternately, complete one-period and change control, in this period of motion, guarantee all the time that Intelligent insulation detects robot use and safely and steadily runs on insulator chain, the operation conformability of edge intelligent robot, strengthens the smoothness of operation conformability and operation by adjusting angle [alpha] for the insulator string of different grades.
Described step (4) is divided into following concrete steps:
Step (4-1): when electric control system receives b and starts the effective information of starter motor axle b of the position sensor that slowly runs, electric control system is by pid control algolithm, and making motor shaft b rotational angle is slow angular speed v1 uniform rotation all the time;
Step (4-2): when electric control system receives the effective information of b startup high speed rotating position sensor starter motor axle b, electric control system is by pid control algolithm, and making motor shaft b rotational angle is fast angular speed v2 uniform rotation all the time.
In described step (4), the computational methods of slow angular speed v1 are:
Because motor shaft a and motor shaft b rotate jointly, when motor shaft b turns over slow angular speed district angle, the time used is that motor shaft a turns over angle (90+ α) ° time used with angular speed v
t1=（90+α）/v；
According to motor shaft b, turning over the slow angular speed district t1 that takes time calculates the slow angular speed of motor shaft b and is
v1=（90-α）/（90+α）*v。
In described step (4), the computational methods of fast angular speed v2 are:
When motor shaft b turns over fast angular area, required time is that motor shaft a turns over angle (90-α) ° time used with angular speed v
t2=（90-α）/v；
According to motor shaft b, turning over the fast angular speed district t2 that takes time calculates the fast angular speed of motor shaft b and is
v2=（90+α）/（90-α）*v。
Beneficial effect of the present invention: the present invention adopts Double-shaft differential and controls, every axle adopts classical pid speed closed loop control strategy, make the angle of robot when two arm contact insulator sheets be less than all the time 90 °, making Intelligent insulation detect robot adapts to and strengthens running environment, when avoiding robot operation, occur blocking or release failure generation, there is reinforced insulation string and detect the adaptability advantage of robot to running environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of insulator chain Intelligent Measurement robot climbing device;
Fig. 2 a axle initial position detects sensor distribution floor map;
Fig. 3 b axle initial position detects sensor distribution floor map;
Fig. 4 sensor space relative angle schematic diagram;
The climbing init state figure of Fig. 5 insulator chain Intelligent Measurement robot;
The climbing arm starting state figure of Fig. 6 insulator chain Intelligent Measurement robot;
Fig. 7 electrical system control block diagram;
Wherein, 1. motor shaft a, 2. roller, 3. supporting seat, 4. bearing (ball) cover, 5. hubcap, 6. bracing frame, 7. motor, 8.b axle initial position detecting sensor, 9. limit base, a 10. jib, 11. bearings, 12. positioning tables, 13. pinions, 14. motor cabinets, 15. climbing arms, 16.b starts high speed rotating position sensor, and 17.b starts the position sensor that slowly runs, 18. gear wheels, 19.a axle initial position detecting sensor, 20. motor shaft b, 21. electric control systems.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Embodiments of the invention are as Fig. 1, a kind of insulator chain Intelligent Measurement robot, comprise frame for movement, electric control system and detection system, described electric control system and detection system are all arranged in frame for movement, described electric control system and detection system interconnect, in described frame for movement, be also provided with two motors 7, described frame for movement comprises two motor shafts and two supporting seats 3, described supporting seat 3 comprises by two fixing gripper shoes of bracing frame 6, the two ends of motor shaft a are arranged on respectively two supporting seat 3 two ends, the two ends of motor shaft b are arranged on respectively the other two ends of two supporting seats 3.
Described detection system comprises a axle initial position detecting sensor 19, b axle initial position detecting sensor 8, b starts high speed rotating position sensor 16, b starts the position sensor 17 that slowly runs, a axle initial position detecting sensor 19 starts high speed rotating position sensor 16 with b and is installed on the first limit base, b axle initial position detecting sensor 8 starts with b the position sensor 17 that slowly runs and is arranged on the second limit base, once detection system detects corresponding positioning table 12, positional information just will be detected passes to electric control system 21 and carries out analyzing and processing and realize intelligent speed changing and control.
Described electric control system 21 is sent driving signal to two motors 7, and two motors 7 are controlled respectively the rotation of corresponding motor shaft a1 and motor shaft b20.
Described the first limit base is arranged on one end of motor shaft a1, described the second limit base is arranged on one end of motor shaft b20, the two ends of described motor shaft a1 and motor shaft b20 are all provided with climbing mechanism, and the outside of the climbing mechanism on described each motor shaft is also provided with transmission mechanism.
Described climbing mechanism comprises a jib 10, climbing arm 15 and roller 2, and described jib 10 is fixed on motor shaft, and described jib 10 two ends connect respectively climbing arm 15, and the end of described each climbing arm 15 connects roller 2.
Described transmission mechanism comprises gear wheel 18 and pinion 13, and gear wheel 18 is fixed on motor shaft, pinion 13 and gear wheel 18 engagements, and pinion 13 is connected with motor 7.
Described each supporting seat 3 inner side are provided with motor 7, and described motor 7 is fixed on motor cabinet 14, and described motor cabinet 14 is fixed on supporting seat 3.
Between described limit base 9 and a jib 10, positioning table 12 is installed.
Described motor shaft is fixed on supporting seat 3 by bearing 11, and described bearing 11 outsides are provided with bearing (ball) cover 4, and described bearing (ball) cover 4 outsides are provided with hubcap 5.
As shown in Figure 2, a axle initial position detection sensor is positioned in Y-axis in space coordinates.
As shown in Figure 3, b axle initial position detection sensor is positioned in X-axis in space coordinates.
Described a axle initial position detecting sensor 19 installation sites and b axle initial position detecting sensor 8 installation sites angle in space coordinates is in 90 °, as shown in Figure 4, b starts the installation site of the position sensor 17 that slowly runs and installation position that b starts high speed rotating position sensor 16 and is set to parastate and all acutangulates α angle with X-axis, as shown in Figure 4.
The control method of insulator chain Intelligent Measurement robot, mainly comprises the following steps:
Step (1): described electric control system 21 is sent driving signal to motor 7, control motor shaft a1 and motor shaft b20 turn to make two motor shafts with climbing arm 15 angle original state at an angle of 90, as shown in Figure 5;
Step (2): control motor shaft b20 by described electric control system 21 and rotate in original state, making subsidiary climbing arm 15 angles of the subsidiary climbing arm of motor shaft b20 15 and motor shaft a1 be less than 90 °, to be angle be (90-α) °, as shown in Figure 6;
Step (3):
Described electric control system 21 adopts the control signal of the affiliated motor 7 of pid control algolithm output motor axle a1, and control driven by motor motor shaft a1 and at the uniform velocity rotate with angular speed v,
Described electric control system 21 adopts the control signal of the affiliated motor 7 of pid control algolithm output motor axle b20, controlling driven by motor motor shaft b20 rotates, the change of the angular velocity of rotation by motor shaft b20, will the original region that be divided into equally two angular speed rotating speeds rotations of speed with motor shaft a1 angular speed v uniform rotation rotary area, and then the angle while realizing the climbing arm 15 of robot motor's axle a1 and climbing arm 15 connect insulator of motor shaft b20 remains it is (90-α) °;
The operation angle in motor shaft b20Man angular speed district is (90-α) °;
The operation angle in motor shaft b20Kuai angular speed district is (90+ α) °.
Step (4):
When electric control system 21 receives b and starts the effective information of starter motor axle b20 of the position sensor 17 that slowly runs, electric control system 21 is by pid control algolithm, and making motor shaft b20 rotational angle is slow angular speed v1 uniform rotation all the time;
When electric control system 21 receives the effective information of b startup high speed rotating position sensor 16 starter motor axle b20, electric control system 21 is by pid control algolithm, and making motor shaft b20 rotational angle is fast angular speed v2 uniform rotation all the time;
Through speed, twice speed adjustment completes a speed alternately, complete one-period and change control, in this period of motion, guarantee all the time that Intelligent insulation detects robot use and safely and steadily runs on insulator chain, the operation conformability of edge intelligent robot, strengthens the smoothness of operation conformability and operation by adjusting angle [alpha] for the insulator string of different grades.
In described step (4), the computational methods of slow angular speed v1 are:
Because motor shaft a1 and motor shaft b20 rotate jointly, when motor shaft b20 turns over slow angular speed district angle, the time used is that motor shaft a1 turns over angle (90+ α) ° time used with angular speed v
t1=（90+α）/v；
According to motor shaft b20, turning over the slow angular speed district t1 that takes time calculates the slow angular speed of motor shaft b20 and is
v1=（90-α）/（90+α）*v。
In described step (4), the computational methods of fast angular speed v2 are:
When motor shaft b20 turns over fast angular area, that to be motor shaft a1 turn over angle (90-α) with angular speed v to required time is ° used
Time t2=(90-α)/v;
According to motor shaft b20, turning over the fast angular speed district t2 that takes time calculates the fast angular speed of motor shaft b20 and is
v2=（90+α）/（90-α）*v。
As shown in Figure 7, electric control system 21 and b start high speed rotating position sensor 16, b start slowly run the motor 7 of position sensor 17, motor shaft b20, the motor of motor shaft a1 7, two encoders that motor 7 carries be connected.Electric control system 21 starts from b that high speed rotating position sensor 16, b start the position sensor 17 of slowly running, two encoders obtain signal, electric control system 21 sends control signal to two motors 7, and two motors 7 are controlled respectively motor shaft rotation separately.
Although above-mentioned, by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. an insulator chain Intelligent Measurement robot, it is characterized in that, comprise frame for movement, electric control system and detection system, described electric control system and detection system are all arranged in frame for movement, described electric control system and detection system interconnect, in described frame for movement, be also provided with two motors, described frame for movement comprises two motor shafts and two supporting seats, described supporting seat comprises two gripper shoes of fixing by bracing frame, the two ends of motor shaft a are arranged on respectively two supporting seat two ends, the two ends of motor shaft b are arranged on respectively the other two ends of two supporting seats, described detection system detect motor shaft with the angle of inclination of climbing arm.
2. a kind of insulator chain Intelligent Measurement as claimed in claim 1 robot, it is characterized in that, described detection system comprises a axle initial position detecting sensor, b axle initial position detecting sensor, b starts high speed rotating position sensor, b starts the position sensor that slowly runs, a axle initial position detecting sensor and b start high speed rotating position sensor and are installed on the first limit base, b axle initial position detecting sensor and motor shaft b start the position sensor that slowly runs and are arranged on the second limit base, once detection system detects corresponding positioning table, positional information just will be detected passes to electric control system and carries out analyzing and processing and realize intelligent speed changing and control.
3. a kind of insulator chain Intelligent Measurement as claimed in claim 1 robot, is characterized in that, described electric control system is sent driving signal to two motors, and two motors are controlled respectively the rotation of corresponding motor shaft a and motor shaft b.
4. a kind of insulator chain Intelligent Measurement as claimed in claim 2 robot, it is characterized in that, described the first limit base is arranged on one end of motor shaft a, described the second limit base is arranged on one end of motor shaft b, the two ends of described motor shaft a and motor shaft b are all provided with climbing mechanism, and the outside of the climbing mechanism on described each motor shaft is also provided with transmission mechanism.
5. a kind of insulator chain Intelligent Measurement as claimed in claim 4 robot, is characterized in that,
Described climbing mechanism comprises a jib, climbing arm and roller, and described jib is fixed on motor shaft, and described jib two ends connect respectively climbing arm, and the end of described each climbing arm connects roller;
Described transmission mechanism comprises gear wheel and pinion, and gear wheel is fixed on motor shaft, pinion and gear wheel engagement, and pinion is connected with motor.
6. a kind of insulator chain Intelligent Measurement as claimed in claim 1 robot, is characterized in that,
Described each supporting seat inner side is provided with motor, and described motor is fixed on motor cabinet, and described motor cabinet is fixed on supporting seat; Between described limit base and a jib, positioning table is installed;
Described motor shaft is fixed on supporting seat by bearing, and described bearing outside is provided with bearing (ball) cover, and described bearing (ball) cover outside is provided with hubcap;
Described a axle initial position detecting sensor installation site and b axle initial position detecting sensor installation site angle in space coordinates is in 90 °, and b starts the installation site of the position sensor that slowly runs and installation position that b starts high speed rotating position sensor and is set to parastate and all acutangulates α angle with X-axis.
7. the control method that a kind of insulator chain Intelligent Measurement as claimed in claim 1 robot adopts, is characterized in that, mainly comprises the following steps:
Step (1): described electric control system is sent driving signal to motor, control motor shaft a and motor shaft b turn to make two motor shafts with climbing arm angle original state at an angle of 90;
Step (2): control motor shaft b by described electric control system and rotate in original state, making the subsidiary climbing arm angle of the subsidiary climbing arm of motor shaft b and motor shaft a be less than 90 °, to be angle be (90-α) °;
Step (3):
Described electric control system adopts the control signal of the affiliated motor of pid control algolithm output motor axle a, and control driven by motor motor shaft a and at the uniform velocity rotate with angular speed v,
Described electric control system adopts the control signal of the affiliated motor of pid control algolithm output motor axle b, controlling driven by motor motor shaft b rotates, the change of the angular velocity of rotation by motor shaft b, will the original region that be divided into equally two angular speed rotating speeds rotations of speed with motor shaft a angular speed v uniform rotation rotary area, and then the angle while realizing the climbing arm of robot motor's axle a and the climbing arm contact insulator of motor shaft b remains it is (90-α) °; The operation angle in the slow angular speed of motor shaft b district is (90-α) °; The operation angle in the fast angular speed of motor shaft b district is (90+ α) °;
Step (4):
Through speed, twice speed adjustment completes a speed alternately, complete one-period and change control, in this period of motion, guarantee all the time that Intelligent insulation detects robot use and safely and steadily runs on insulator chain, the operation conformability of edge intelligent robot, strengthens the smoothness of operation conformability and operation by adjusting angle [alpha] for the insulator string of different grades.
8. a kind of insulator chain Intelligent Measurement robot control method as claimed in claim 7, is characterized in that, described step (4) is divided into following concrete steps:
Step (4-1): when electric control system receives b and starts the effective information of starter motor axle b of the position sensor that slowly runs, electric control system is by pid control algolithm, and making motor shaft b rotational angle is slow angular speed v1 uniform rotation all the time;
Step (4-2): when electric control system receives the effective information of b startup high speed rotating position sensor starter motor axle b, electric control system is by pid control algolithm, and making motor shaft b rotational angle is fast angular speed v2 uniform rotation all the time.
9. a kind of insulator chain Intelligent Measurement robot control method as claimed in claim 7, is characterized in that, in described step (4), the computational methods of slow angular speed v1 are:
Because motor shaft a and motor shaft b rotate jointly, when motor shaft b turns over slow angular speed district angle, the time used is that motor shaft a turns over angle (90+ α) ° time used with angular speed v
t1=（90+α）/v；
According to motor shaft b, turning over the slow angular speed district t1 that takes time calculates the slow angular speed of motor shaft b and is
v1=（90-α）/（90+α）*v。
10. a kind of insulator chain Intelligent Measurement robot control method as claimed in claim 7, is characterized in that, in described step (4), the computational methods of fast angular speed v2 are:
When motor shaft b turns over fast angular area, required time is that motor shaft a turns over angle (90-α) ° time used with angular speed v
t2=（90-α）/v；
According to motor shaft b, turning over the fast angular speed district t2 that takes time calculates the fast angular speed of motor shaft b and is
v2=（90+α）/（90-α）*v。
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| CN106443266A (en) * | 2016-10-18 | 2017-02-22 | 国家电网公司 | Ultra-high-voltage transmission line low-zero-value insulator intelligent detection apparatus and detection method |
| CN106443266B (en) * | 2016-10-18 | 2019-06-04 | 国家电网公司 | UHV transmission line faulty insulator intelligent detection device and detection method |
| CN110632471A (en) * | 2019-09-24 | 2019-12-31 | 国网山东省电力公司电力科学研究院 | Robot and method for detecting insulator strings on and off line |
| CN112295976A (en) * | 2020-09-29 | 2021-02-02 | 重庆南电科技有限公司 | Porcelain insulator zero-value-measuring cleaning robot and control system |
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| CN103921272B (en) | 2016-06-22 |
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