CN104834293B - The method of transformer station's water flushing device people's vision collimation system - Google Patents
The method of transformer station's water flushing device people's vision collimation system Download PDFInfo
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- CN104834293B CN104834293B CN201510209143.8A CN201510209143A CN104834293B CN 104834293 B CN104834293 B CN 104834293B CN 201510209143 A CN201510209143 A CN 201510209143A CN 104834293 B CN104834293 B CN 104834293B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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Abstract
The invention discloses transformer station's water flushing device people's vision collimation system and method, including web camera and rangefinder, industrial control computer receives the signal of web camera and rangefinder collection；Rangefinder stamps red hot spot above scope, the punctation position is the position that water is rinsed, the web camera collection site image, utilize colour recognition algorithm, to punctation automatic identification, so as to obtain the coordinate information of punctation in image space, and then determine hydraulic giant hit position, by obtained hydraulic giant hit position feedback of the information to robot controller, control machine people moves, control hydraulic giant hit position is located at the position specified, so as to realize the Visual servoing control of transformer station water flushing device people.Realized by machine vision related algorithm and the vision guide of Electrified water washing system is controlled, effectively increase the autonomy-oriented degree of robot, and played the role of to the lifting of robot flush efficiency larger.
Description
Technical field
The present invention relates to automation of transformation substations control field, and in particular to transformer station's water flushing device people's vision collimation system
And method.
Background technology
Substation Insulator, currently due to the reason such as environmental improvement is not perfect, is diffused in air due to staying open air
The industrial filthy and naturally filthy insulator surface that is easily deposited on form pollution layer.These contain the filth of salt, acid, alkaline components
Run under the humid conditions such as mist and wet weather, the pollution layer of insulator surface is wet, conductance increase, decreasing insulating,
Leakage current is sharply increased, and its flashover voltage is substantially reduced, and may now occur pollution flashover, and this will have a strong impact on power network system
The stable operation of system.Therefore, the decontamination work periodically to the insulator in outdoor transformer station is highly important.
Living water washing work effectively prevents one of measure of pollution flashover accident to be generally used as electrical equipment.At present,
Transformer station's living water washing operation mostly uses manual type, and operating personnel need to be operated near high voltage alive equipment, hand-held to set
It is standby that equipment is rinsed, operating environment relative risk, and workload is very big, has had a strong impact on the efficiency that water rinses operation.For
Solve the above problems, domestic and international many mechanisms are all conducted in-depth research to this, and main achievement in research includes：
1st, the entitled " band of Patent No. 201010617220.0 that State Intellectual Property Office authorized on December 25th, 2013
A kind of double column jet flushing sides of living water washing are proposed in the patent of the electric double column jet purging methods of water flushing and device "
Method and device, the invention use the rush-harvesting and rush-planting of angled installation, using due to mutual extruding, are converted into by pencil radial
Current the charging equipment for needing to clean is cleaned, dead angle and dead band can be prevented, and impulsive force can be controlled, it is anti-
Only to the infringement of charging equipment, reduce sputtering length and region；Automation control can be realized using electric power, hydraulic power driving element
System, ensures operation accuracy, improves the security of operation.
2nd, the entitled " change of Patent No. 201220084719.4 that State Intellectual Property Office authorized on October 10th, 2012
A kind of transformer station's living water washing water jet intelligence is provided in the patent of power station living water washing water jet Intellectualized controller "
Change control device, the device includes：PLC control unit, touch-screen man machine operation interface, wide input direct-current power supply unit of voltage regulation,
Multi-channel electromagnetic valve cell, on off state detection unit, signal detection sensor unit；The wide input direct-current power supply unit of voltage regulation
Also examined with the PLC control unit, touch-screen man machine operation interface, multi-channel electromagnetic valve cell, on off state detection unit, signal
Survey sensor unit be respectively connected with, the PLC control unit also with the touch-screen man machine operation interface, multipath electrovalve list
Member, on off state detection unit, signal detection sensor unit are respectively connected with.The device provided by the utility model can
Transformer station's powered water-washing vehicle is carried out accurately and efficiently to control.
The studies above all achieves beneficial effect to a certain extent, but still there are the following problems：
1st, in water flushing process, because the operation height at operation end is higher (about 7-8 meters), only according to operating personnel's
Naked eyes are difficult to observe which equipment is current robot will rinse and want the information such as the flush position of flushing device, and this just seriously makes
The about practicality of system.
2nd, above-mentioned water flushing device or system, although introduce a certain degree of automation equipment, but water rinses operation still
The substantial length of operation of operating personnel so is needed, its intelligent level is relatively low, it is impossible to meet the intelligent requirements that water rinses operation.
The content of the invention
To solve the deficiency that prior art is present, the invention discloses transformer station's water flushing device people's vision collimation system and
Method, by introducing visual monitor system, ground is transferred to by the realtime graphic at operation end, facilitate operating personnel understand in time by
Flushing device and the position rinsed are wanted, and realizes that the vision guide that robot water is rinsed is controlled by machine vision monitoring system,
Realize that transformer station's water rinses intellectuality and the autonomy-oriented of operation.
To achieve the above object, concrete scheme of the invention is as follows：
Transformer station's water flushing device people's vision collimation system, including：Web camera and rangefinder, industrial control computer
Receive the signal of web camera and rangefinder collection；
The rangefinder is arranged on the rear upper of the hydraulic giant of water spraying mechanism, and installation direction is consistent with hydraulic giant direction, ranging
Instrument stamps red hot spot above scope, and the punctation position is the position that water is rinsed, and the web camera is adopted
Collect image scene, using colour recognition algorithm, to punctation automatic identification, so as to obtain punctation in image space
Coordinate information, and then hydraulic giant hit position is determined, by obtained hydraulic giant hit position feedback of the information to robot controller, control
Robot motion, control hydraulic giant hit position is located at the position specified, so as to realize that the vision of transformer station water flushing device people is watched
Clothes control.
The web camera is communicated by wireless router and wireless network card with industrial control computer, the rangefinder
Communicated by wireless receiving and dispatching injection device and industrial control computer.
The web camera is fixedly mounted on water spraying mechanism back upper place, and the reality at operation end is transmitted to industrial control computer
When image information.
The wireless receiving and dispatching injection device uses ZIGBEE communications protocol, and wherein transmitting terminal is connected by serial ports with rangefinder,
Receiving terminal is connected by serial ports with industrial control computer, realizes what laser range finder was obtained by the wireless transmitter
The collection of range information.
The wireless network card is connected by usb bus with industrial control computer, and it realizes network by wireless router
The wireless network connection of video camera and industrial control computer.
The water spraying mechanism includes the mounting platform of hydraulic giant and hydraulic giant, and the mounting platform has two frees degree, Neng Goushui
Gentle vertical rotation, hydraulic giant is connected by insulation water pipe with water making device.
The colour recognition algorithm is that the video image for gathering web camera is transformed into HSV space by rgb space,
It is that the automatic identification to punctation can be achieved that Threshold Segmentation Algorithm is utilized in color H spaces, so as to obtain punctation in figure
Coordinate information in image space.
The method of transformer station's water flushing device people's vision collimation system, including：
1) coordinate (DstX, DstY) of flush points of setting the goal is referred in the image shown first in industrial computer, DstX,
DstY is respectively abscissa and ordinate in image, and unit is pixel；
2) identification for realizing punctation using colour recognition algorithm is positioned, if its coordinate is (SrcX, SrcY), SrcX,
SrcY is respectively abscissa and ordinate in image, and unit is pixel；
3) grid deviation (DX, DY) its calculation formula calculated between the coordinate of target flush points and punctation is as follows：
DX=DstX-SrcX, DY=DstY-SrcY；
4) laterally adjust, the value to DX judges, if DX absolute value is less than given threshold value T, stop water spraying mechanism
Transverse movement, controls water spraying mechanism to move right if DX is more than T, and water spraying mechanism is controlled to left movement if DX is less than-T；
5) longitudinally adjusted, the value to DY judges, if DY absolute value is less than given threshold value T, stops water spraying mechanism
Lengthwise movement, controls water spraying mechanism to move downward if DY is more than T, controls water spraying mechanism to move upwards if DY is less than-T；
6) value to (DX, DY) is judged, step is jumped to if DX and DY absolute value is both less than given threshold value T
(7) step (3), is otherwise jumped to；
7) control process terminates.
Operation principle：Rangefinder is arranged on the rear portion of spray gun, and installation direction is consistent with hydraulic giant direction, and it can be in scope
Red hot spot is stamped in top, and when rinsing operation due to water, hydraulic pressure is larger, and hydraulic giant shower is approximately straight line, therefore the red grouper
Point position is the position that water is rinsed.The web camera collection site image, using colour recognition algorithm, to punctation
Automatic identification, so as to obtain the coordinate information of punctation in image space, and then can determine that hydraulic giant hit position.Will be logical
Hydraulic giant hit position feedback of the information that graphical analysis obtains is crossed to robot controller, control machine people motion, control hydraulic giant is beaten
Hit position and be located at the position being manually specified, so as to realize the Visual servoing control of transformer station water flushing device people.
Rangefinder is connected by wireless transmission and receiving device with industrial control computer, and real to industrial control computer
When transmission water flushing device people water spraying mechanism and be rinsed the operation range information of equipment room.Rangefinder, can be in observation during measurement
Red hot spot is stamped above equipment, operating personnel are by observing the red facula information in the video information that web camera is returned
Equipment and the flush position that will now rinse can be judged.So, the mistake that ground control personnel can intuitively to flushing
The monitoring of Cheng Jinhang videos.
Transformer station's water flushing device people's vision collimation system can not only realize the video monitoring to operation process, Er Qieke
The vision guide of transformer station's water flushing device people's system is controlled with being realized by machine vision monitoring system.
Beneficial effects of the present invention：
1st, the present invention utilizes web camera collection site image, to the automatic identification of punctation, so as to obtain red
The coordinate information of spot in image space, and then can determine that hydraulic giant hit position.Electrification in high voltage water flushing device people vision is supervised
By video camera, earthward operating personnel provide operating side operation picture to control system, and operating personnel can observe current robot
Rinse which equipment and want the information such as the flush position of flushing device, effectively improve the accuracy for rinsing operation.
2nd, rangefinder of the invention is connected by wireless transmission and receiving device with industrial control computer, and is controlled to industry
Computer processed transmits water flushing device people water spraying mechanism and is rinsed the operation range information of equipment room in real time, passes through machine vision
Related algorithm, which is realized, to be controlled the vision guide of Electrified water washing system, effectively increases the autonomy-oriented degree of robot, and right
The lifting of robot flush efficiency plays the role of larger.
Brief description of the drawings
Fig. 1 is transformer station's water flushing device people's vision collimation system composition；
Fig. 2 is transformer station's water flushing device people's vision servo system schematic diagram；
Wherein, 1. rangefinder, 2. wireless transmitters, 3. web cameras, 4. wireless routers, 5. wireless network cards, 6.
Water spraying mechanism, 7. robot controllers, 8. industrial control computers.
Embodiment：
The present invention is described in detail below in conjunction with the accompanying drawings：
Transformer station's water flushing device people system includes the composition such as robot body, water making device and pressure apparatus, robot
Body drives mobile platform, the three telescopic lifting arms of section and the part of workbench three to constitute by tracked hydraulic, wherein described
Lifting arm is arranged on tracked hydraulic driving mobile platform, and workbench is arranged on the end of the lifting arm, should
Robot system realizes robot control operation by robot controller.
As shown in figure 1, transformer station's water flushing device people's vision collimation system is by rangefinder 1, wireless receiving and dispatching injection device 2, net
Network video camera 3, wireless router 4, wireless network card 5, robot water spraying mechanism 6, robot controller 7 and industrial control computer
8 grades are constituted.
Web camera 3 is fixedly mounted on the back upper place of water spraying mechanism 6, and it is realized by wireless router 4 and wireless network card 5
With the communication of industrial control computer 8, and the real-time image information at operation end is transmitted to industrial control computer 8.
Wireless receiving and dispatching injection device 2 uses ZIGBEE communications protocol, and wherein transmitting terminal is connected by serial ports with laser range finder 1
Connect, receiving terminal is connected by serial ports with industrial control computer 8, realized by the wireless transmitter 2 to laser range finder 1
The collection of the range information of acquisition.
Wireless network card 5 is connected by usb bus with industrial control computer 8, and it realizes that network is taken the photograph by wireless router 4
Camera 3 is connected with the wireless network of industrial control computer 8.
Water spraying mechanism 6 includes the mounting platform of hydraulic giant and hydraulic giant, and the platform has two frees degree, can be with horizontal and vertical
Rotate, hydraulic giant is connected by insulation water pipe with water making device.
Rangefinder 1 is arranged on the rear portion of water spraying mechanism 6, and installation direction is consistent with water spraying mechanism direction, and it is by wirelessly receiving
Transmitting apparatus 2 is connected with industrial control computer 8, and transmits water flushing device people water spraying mechanism 6 in real time to industrial control computer 8
Operation range information with being rinsed equipment room.
Rangefinder 1 can stamp red hot spot when measuring above scope, and operating personnel are by observing web camera
Red facula information in the video information of passback can judge equipment and the flush position that will now rinse.So, ground
Face operator can intuitively carry out the monitoring of video to the process of flushing.
Transformer station's water flushing device people's vision collimation system can not only realize the video monitoring to operation process, Er Qieke
The vision guide of transformer station's water flushing device people's system is controlled with being realized by machine vision related algorithm.
In the present system, the laser range finder is arranged on the rear portion of spray gun, and installation direction is consistent with hydraulic giant direction, its meeting
Red hot spot is stamped above scope, when rinsing operation due to water, hydraulic pressure is larger, and hydraulic giant shower is approximately straight line,
Therefore the punctation position is the position that water is rinsed.The web camera collection site image, using colour recognition algorithm,
To the automatic identification of punctation, so as to obtain the coordinate information of punctation in image space, and then it can determine that hydraulic giant is beaten
Hit position.
As shown in Fig. 2 camera acquisition image scene, by the colour recognition scheduling algorithm of image processing module, is analyzed
The hydraulic giant hit position feedback of the information arrived is located at people to robot controller, control machine people motion, control hydraulic giant hit position
The position that work is specified, so as to realize the Visual servoing control of transformer station water flushing device people.
Colour recognition algorithm is that the video image for gathering network cameras is transformed into HSV space by rgb space, in color H
It is that the automatic identification to punctation can be achieved that Threshold Segmentation Algorithm is utilized in space, so as to obtain punctation in image space
In coordinate information.
The Visual servoing control of transformer station water flushing device people, its control process is as follows：
1) coordinate (DstX, DstY) of target flush points is manually specified in the picture first, DstX, DstY are respectively image
Middle abscissa and ordinate, unit is pixel；
2) identification for realizing punctation using the colour recognition algorithm is positioned, if its coordinate is (SrcX, SrcY),
SrcX, SrcY are respectively abscissa and ordinate in image, and unit is pixel；
3) grid deviation (DX, DY) its calculation formula calculated between the coordinate of target point and punctation is as follows：
DX=DstX-SrcX, DY=DstY-SrcY；
4) laterally adjust, the value to DX judges, if DX absolute value is less than given threshold value T, stop water spraying mechanism
Transverse movement, controls water spraying mechanism to move right if DX is more than T, and water spraying mechanism is controlled to left movement if DX is less than-T,
This T value is 5；
5) longitudinally adjusted, the value to DY judges, if DY absolute value is less than given threshold value T, stops water spraying mechanism
Lengthwise movement, controls water spraying mechanism to move downward if DY is more than T, controls water spraying mechanism to move upwards if DY is less than-T,
This T value is 5；
6) value to (DX, DY) is judged, is jumped to (7) if DX and DY absolute value is both less than given threshold value T, no
Then jump to (3)；
7) control process terminates.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (5)
1. the method for transformer station's water flushing device people's vision collimation system, including：Web camera and rangefinder, Industry Control meter
Calculation machine receives the signal of web camera and rangefinder collection；
The web camera is communicated by wireless router and wireless network card with industrial control computer, and the rangefinder passes through
Wireless receiving and dispatching injection device is communicated with industrial control computer；
The wireless receiving and dispatching injection device uses ZIGBEE communications protocol, and wherein transmitting terminal is connected by serial ports with rangefinder, receives
End is connected by serial ports with industrial control computer, and the distance obtained to laser range finder is realized by the wireless transmitter
The collection of information；
The rangefinder is arranged on the rear upper of the hydraulic giant of water spraying mechanism, and installation direction is consistent with hydraulic giant direction, and rangefinder exists
Red hot spot is stamped above scope, the punctation position is the position that water is rinsed, the web camera collection is existing
Field picture, using colour recognition algorithm, to punctation automatic identification, so as to obtain the coordinate of punctation in image space
Information, and then hydraulic giant hit position is determined, by obtained hydraulic giant hit position feedback of the information to robot controller, control machine
People moves, and control hydraulic giant hit position is located at the position specified, so as to realize the visual servo control of transformer station water flushing device people
System；
It is characterized in that, including：
1) coordinate (DstX, DstY) of target flush points is specified in the picture first, DstX, DstY are respectively abscissa in image
And ordinate, unit is pixel；
2) identification for realizing punctation using colour recognition algorithm is positioned, if its coordinate is (SrcX, SrcY), SrcX, SrcY
Abscissa and ordinate respectively in image, unit is pixel；
3) grid deviation (DX, DY) its calculation formula calculated between the coordinate of target flush points and punctation is as follows：
DX=DstX-SrcX, DY=DstY-SrcY；
4) laterally adjust, the value to DX judges, if DX absolute value is less than given threshold value T, stop water spraying mechanism horizontal
Motion, controls water spraying mechanism to move right if DX is more than T, and water spraying mechanism is controlled to left movement if DX is less than-T；
5) longitudinally adjusted, the value to DY judges, if DY absolute value is less than given threshold value T, stops water spraying mechanism longitudinal direction
Motion, controls water spraying mechanism to move downward if DY is more than T, controls water spraying mechanism to move upwards if DY is less than-T；
6) value to (DX, DY) is judged, step (7) is jumped to if DX and DY absolute value is both less than given threshold value T, no
Then jump to step (3)；
7) control process terminates.
2. the method for transformer station's water flushing device people's vision collimation system as claimed in claim 1, it is characterized in that, the network
Video camera is fixedly mounted on water spraying mechanism back upper place, and the real-time image information at operation end is transmitted to industrial control computer.
3. the method for transformer station's water flushing device people's vision collimation system as claimed in claim 1, it is characterized in that, it is described wireless
Network interface card is connected by usb bus with industrial control computer, and it realizes web camera and Industry Control by wireless router
The wireless network connection of computer.
4. the method for transformer station's water flushing device people's vision collimation system as claimed in claim 1, it is characterized in that, the water spray
Mechanism includes the mounting platform of hydraulic giant and hydraulic giant, and the mounting platform has two frees degree, horizontal and vertical can rotated, hydraulic giant
It is connected by insulation water pipe with water making device.
5. the method for transformer station's water flushing device people's vision collimation system as claimed in claim 1, it is characterized in that, the color
Recognizer is that the video image for gathering web camera is transformed into HSV space by rgb space, is utilized in color H spaces
Threshold Segmentation Algorithm is that the automatic identification to punctation can be achieved, so as to obtain the coordinate letter of punctation in image space
Breath.
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| CN105068537A (en) * | 2015-08-14 | 2015-11-18 | 国网天津市电力公司 | Controller for insulator washing robot |
| CN112966576B (en) * | 2021-02-24 | 2022-09-16 | 西南交通大学 | System and method for aiming insulator water washing robot based on multi-light source image |
| CN114305213A (en) * | 2022-01-15 | 2022-04-12 | 师杨 | Intelligent workshop flushing device and flushing method |
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| CN101961698A (en) * | 2010-08-04 | 2011-02-02 | 中国科学院自动化研究所 | Device and method for measuring poses of embedded type spraying gun in real time |
| CN204171001U (en) * | 2014-09-10 | 2015-02-25 | 山东鲁能智能技术有限公司 | Based on the transformer station water flushing device people of laser ranging |
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| JP2000066706A (en) * | 1998-08-21 | 2000-03-03 | Matsushita Electric Ind Co Ltd | Robot controller and its control method |
| CN101833325B (en) * | 2010-05-24 | 2012-04-04 | 上海电气集团股份有限公司 | Robot for playing Zhongruan and control method |
| CN102880179B (en) * | 2012-09-19 | 2016-01-27 | 山东康威通信技术股份有限公司 | Multifunctional intelligent crusing robot in a kind of electric power tunnel |
| CN103862154B (en) * | 2012-12-10 | 2016-03-30 | 上海空间电源研究所 | For image identification system and the method for the welding of solar battery array circuitous resistance |
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| CN101961698A (en) * | 2010-08-04 | 2011-02-02 | 中国科学院自动化研究所 | Device and method for measuring poses of embedded type spraying gun in real time |
| CN204171001U (en) * | 2014-09-10 | 2015-02-25 | 山东鲁能智能技术有限公司 | Based on the transformer station water flushing device people of laser ranging |
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