CN105013734A - Washing control method for transformer substation washing robot based on ultrasonic distance measurement - Google Patents

Abstract

The invention discloses a washing control method for a transformer substation washing robot based on ultrasonic distance measurement. According to the distance acquired through an ultrasonic distance measurement instrument and an image monitored through a monitoring camera, the relative distance between the current robot and insulators is acquired, whether the relative distance is a safe distance or not is judged, if yes, the next step is executed, and if not, the position is adjusted till the relative distance is the safe distance, wherein the ultrasonic distance measurement instrument and the monitoring camera are installed on a washing platform; the path planning initial state is determined; a linear interpolation manner is adopted for automatically washing an insulator string vertically through a washing mechanical arm; a circular interpolation manner of a point-to-point comparison method is adopted so that the insulator string facing the side of the robot can be washed through a nozzle; in the washing process, the water outflow caliber and the water outflow speed of a water gun are adjusted, so that a Karman vortex street is formed, and the vibration frequency of the insulator string is adjusted. The robot works in the safe distance, the start point and the stop point of a washing track are accurately located, and washing quality and efficiency are improved.

Description

Based on the water flush control method of the transformer station water flushing device people of supersonic sounding

Technical field

The present invention relates to robot field, particularly relate to the water flushing method of a kind of transformer station water flushing device people based on laser ranging.

Background technology

Along with the develop rapidly of industrial economy and urban construction, the continuity of power to transformer station and quality propose more and more higher requirement.But being chronically exposed in the Nature due to transmission line equipment, particularly industrialized regions, coastal and region, salt-soda soil, the impact of, dust saline and alkaline by industrial waste gas, seawater and nature, can form filth to a certain degree at its insulator surface usually.These contain the filth of salt, acid, alkaline components, in general water soluble, become electrolyte, have very strong electric conductivity after filth is water-soluble.The insulator polluted, conductance increases, and insulating properties reduce, and leakage current sharply increases, and its flashover voltage reduces greatly, now just easily dirt flashover occurs.Especially when insulator design reveal than apart from inadequate or adopt insulator can not meet filth require time, pollution flashover probably occurs.Pollution flashover accident, once occur, directly can cause user's large area, have a power failure for a long time, cause power supply reliability to decline, thus brings serious negative effect to industrial and agricultural production and resident living power utility.Prevent transmission line of electricity pollution flashover, prevent the generation of electrical network massive blackout accident, guarantee that power network safety operation and electric power are reliably supplied and just seem particularly important.

At present, Substation Insulator water flushing Problems existing is:

1, the cleaning works of Substation Insulator mainly adopts power failure hand sweeping or living water washing.Employing power failure hand sweeping quality is low, equipment cleaning works is in passive state, and can not obtain in good time cleaning, these all can cause certain hidden danger to the safe and stable operation of transformer station's transmission line of electricity.

2, the cleaning works of part Substation Insulator relies on machine to carry out, but automatization level is low, controls accurate not, thus causes the cleaning of Substation Insulator thorough not, can not meet safety requirements.

Transformer station water flushing device people based on this invention can realize livewire work, and stability and high efficiency water rinses, and is conducive to the stable operation of electrical network.Now, the research and development of water flushing device people are like a raging fire, and about water flushing device people carry out water rinse operation time path planning problem also imperfection.

Summary of the invention

For solving the deficiency that prior art exists, the invention discloses the water flush control method of a kind of transformer station water flushing device people based on supersonic sounding, this flushing control mode is used for the path of planning that water flushing device people rinses insulator, the spacing of adjustment spray gun and insulator, regulates in flushing process and flushes out water speed formation Karman vortex street etc.Effectively can ensure robot smoothness run in flushing process, realize error and acceleration is controlled, and there is good developing result.

For achieving the above object, concrete scheme of the present invention is as follows:

Based on the water flush control method of the transformer station water flushing device people of supersonic sounding, comprising:

Step one: according to the relative dimensional coordinate value being arranged on the image rinsing ultrasonic range finder on platform and monitoring camera collection distance and monitoring and obtaining between current robot and insulator, whether both judgements relative distance is safe distance, if, carry out next step, if not, the position of platform is rinsed in adjustment, until this relative distance is safe distance; Determine the initial state of path planning;

Step 2: control water flushing mechanical arm to the auto-flushing of the above-below direction of insulator chain by controlling it; Realize shower nozzle by control shower nozzle to clean the insulator chain towards robot side;

Step 3: when carrying out water and rinsing, by regulating hydraulic giant water outlet bore and going out water speed, forms Karman vortex street and realizes the adjustment to insulator chain vibration frequency.

In described step 2, to the auto-flushing of the above-below direction of insulator chain, detailed process is:

(2-1) in flushing process, the angular displacement sensor be arranged on the rotating shaft of each joint collects each joint angles of initial time and end time motion arm;

(2-2) for the easy motion in single joint, lopcus function θ (t) meets constraints, determination cubic polynomial unique according to the constraint equation that constraints is corresponding;

(2-3) obtain joint velocity and the acceleration of movement locus according to this cubic polynomial, the joint velocity of movement locus and acceleration are substituted into the coefficient that constraint equation obtains cubic polynomial, this coefficient determines washing time and the relation of rinsing angle;

(2-4) the length relation over time of insulating bar in flushing process is obtained according to the length of insulating bar and cubic polynomial, to (l, d, θ ₀, θ _f) carry out interpolation, generate water flushing mechanical arm to the flushing track of the above-below direction of insulator chain.

Described constraints, wherein two is the joint angles that starting point and ending point is corresponding:

θ(0)＝θ ₀；

θ(t _f)＝θ _f；

Wherein, θ ₀, θ _ffor the joint angles of starting point and ending point;

When joint velocity in path point is non-vanishing, velocity restraint condition becomes:

θ'(0)＝θ ₀'

θ'(t _f)＝θ _f'。

By four equations of velocity restraint condition determination cubic polynomial be:

θ ₀＝a ₀

θ _f＝a ₀+a ₁t _f+a ₂t _f ²+a ₃t _f ³

θ ₀'＝a ₁

θ _f'＝a ₁+2a ₂t _f+3a ₃t _f ²

θ ₀, θ _f, θ ' ₀, θ ' _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

Solving equation group, can obtain the coefficient of cubic polynomial:

a ₀＝θ ₀

a ₁＝θ ₀'

$a_2=\frac{3}{{t_f}^2}({\mathrm{\θ}}_f-{\mathrm{\θ}}_0)-\frac{2}{t_f}{{\mathrm{\θ}}_0}^{\′}-\frac{1}{t_f}{{\mathrm{\θ}}_f}^{\′}$

$a_3=-\frac{2}{{t_f}^3}({\mathrm{\θ}}_f-{\mathrm{\θ}}_0)+\frac{1}{{t_f}^2}({{\mathrm{\θ}}_0}^{\′}+{{\mathrm{\θ}}_f}^{\′})$

θ ₀, θ _f, θ ' ₀, θ ' _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

If the joint angles at path point place of process be θ _v, the joint velocity of 2, the front and back adjacent with this point is respectively θ ₀and θ _g.From θ ₀to θ _vinterpolation cubic polynomial be:

θ(t)＝a ₁₀+a ₁₁t+a ₁₂t ²+a ₁₃t ³

From θ _vto θ _ginterpolation cubic polynomial be:

θ(t)＝a ₂₀+a ₂₁t+a ₂₂t ²+a ₂₃t ³

The time interval of above-mentioned two cubic polynomials is respectively with to these two polynomial constraints be:

θ ₀＝a ₁₀

θ _v＝a ₁₀+a ₁₁t _f1+a ₁₂t _f1 ²+a ₁₃t _f1 ³

θ _v＝a ₂₀

θ _g＝a ₂₀+a ₂₁t _f2+a ₂₂t _f2 ²+a ₂₃t _f2 ³

0＝a ₁₁

0＝a ₂₁+2a ₂₂t _f2+3a ₂₃t _f2 ²

a ₁₁+2a ₁₂t _f1+3a ₁₃t _f1 ²＝a ₂₁

2a ₂₁+6a ₁₃t _f1＝2a ₂₂

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f1, t _f2for time parameter.

Above constraints has formed 8 linear equations containing 8 unknown numbers, for t _f1=t _f2=t _fsituation, this non trivial solution is:

a ₁₀＝θ ₀

a ₁₁＝0

$a_{12}=\frac{{12\mathrm{\θ}}_v-{3\mathrm{\θ}}_g-{9\mathrm{\θ}}_0}{{{4t}_f}^2}$

$a_{13}=\frac{-8{\mathrm{\θ}}_v+3{\mathrm{\θ}}_g+5{\mathrm{\θ}}_0}{4{t_f}^2}$

a ₂₀＝θ _v

$a_{21}=\frac{3{\mathrm{\θ}}_g-3{\mathrm{\θ}}_0}{4t_f}$

$a_{22}=\frac{-12{\mathrm{\θ}}_v+6{\mathrm{\θ}}_g+6{\mathrm{\θ}}_0}{4{t_f}^2}$

$a_{23}=\frac{8{\mathrm{\θ}}_v-5{\mathrm{\θ}}_g-3{\mathrm{\θ}}_0}{4{t_f}^2}$

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f, t _f1, t _f2for time parameter.

We bring the coefficient obtained into θ (t)=a thus ₁₀+ a ₁₁t+a ₁₂t ²+ a ₁₃t ³, just can obtain the time dependent relation of joint angles.

In described step 2, the insulator chain towards robot side is cleaned, adopt the circular interpolation mode of point-to-point comparison method; When carrying out circular interpolation, be initial point usually with the center of circle, the coordinate value according to circular arc Origin And Destination carries out interpolation.

Carry out interpolation according to the coordinate value of circular arc Origin And Destination to be specially: set the circular arc starting point coordinate of circular interpolation as (X ₀, Y ₀), terminal point coordinate is (X _e, Y _e), for any point (X on circular arc _i, Y _i), have: X _i ²+ Y _i ²=R ², make F=X _i ²+ Y _i ²-R ²for departure function.As F > 0, this point, outside circle, moves a step to-X-direction fortune; As F < 0, this point, in circular arc, moves a step to+Y-direction fortune; For making motion continue, F=0 is included into the situation of F > 0, moving interpolation moves along circular arc to terminal all the time.

The differentiation of circular interpolation calculates and can adopt following superposition computing:

If current point (X _i, Y _i) corresponding departure function is

F _i＝X _i ²+Y _i ²-R ²

After spray gun edge-X-direction makes a move

F _i+1＝(X _i-1) ²+Y _i ²-R ²＝F _i-2X _i+1

After spray gun edge+Y-direction makes a move

F _i+1＝X _i ²+(Y _i+1) ²-R ²＝F _i+2Y _i+1

End point judging can by n=|X _e-X ₀|+| Y _e-Y ₀| differentiate, often make a move and make n=n+1, till n=0.

To (X _i, Y _i, θ ₀, θ _f) carry out interpolation, generate the movement locus that water flushing device people is cleaned the insulator chain towards robot side.

In described step 2, the condition that Karman vortex street is formed: cylinder in a fluid, its Reynolds number meets 47<R _e<105, Reynolds number is used for characterizing fluid mobility status, with R _erepresent, R _e=ρ vl/ η, wherein v, ρ, η are respectively the flow velocity of fluid, density and viscosity coefficient, and l is a characteristic length;

Insulator chain vibration frequency is directly proportional to fluid (water) speed, is inversely proportional to the frontal width of bluff body, and Karman vortex street frequency and fluid velocity and bluff body and swirl generating body width have following relation: f=S _rv/d, wherein f is Karman vortex street frequency; S _rfor Strouhal number; V is fluid velocity; D is that bluff body heads on width;

By regulating hydraulic giant water outlet bore and going out water speed, form Karman vortex street and realize the adjustment to insulator chain vibration frequency, to produce good developing result.

Be more than the interpolation of first quartile against circular arc, the interpolation principle along inverse circular arc of other quadrant is similar to first quartile.

Path point is also regarded as " starting point " and " terminating point ", inverse kinematics is solved to these path point, obtain corresponding joint vector value, then required cubic algebraic curves function is determined, level and smooth for path point is coupled together, but the joint motions speed of these " starting points " and " terminating point " is no longer zero.

When carrying out water flushing, adjusting water outlet speed, makes Reynolds number meet 47<R _e<105, forms Karman vortex street.Vibration frequency is directly proportional to fluid velocity, is inversely proportional to the frontal width of bluff body, regulates hydraulic giant water outlet bore, realizes the adjustment to insulator chain vibration frequency, to produce good developing result.

When rinsing insulator, current are peeled off from insulator both sides, form eddy current alternately, this eddy current replaced, make the spot speed of insulator both sides current different, water velocity is different, and the instantaneous pressure that insulator both sides are subject to is also different, therefore make insulator vibrate, reach by this vibrations of insulator the effect taken out stains.By regulating hydraulic giant water outlet bore and going out water speed, form Karman vortex street and change vibration frequency, to strengthen the water developing result of water flushing device people.

Beneficial effect of the present invention:

1) gained track can ensure above-below direction straightway and towards shower nozzle side arc section between flush position and speed continuous.The time of implementation of Neng Shi robot minimizes, thus improves the flush efficiency of water flushing device people, and the executing agency of robot is more easily followed the tracks of.

2) adopt camera and ultrasonic range finder, the position that Real-Time Monitoring is current, makes robot be operated in safe distance, ensures starting point and the terminal accurate positioning of rinsing track, thus improves the quality and efficiency of rinsing.

3) used the principle of Karman vortex street, flushing level can have been improved under minimal motion, ensured that the dirt on insulator chain is cleared up to greatest extent.

Accompanying drawing explanation

Fig. 1 water rinses the flow chart of control mode;

The schematic diagram of Fig. 2 water backwashing manner;

The track schematic diagram of Fig. 3 circular interpolation.

Detailed description of the invention:

Below in conjunction with accompanying drawing, the present invention is described in detail:

As Figure 1-3, based on the water flush control method of the transformer station water flushing device people of supersonic sounding, comprise the following steps:

Step one: set up robot path planning's model; The depth distance between robot and insulator can be obtained according to the ultrasonic range finder be arranged on flushing platform, again image recognition is carried out to the picture obtained by monitoring camera, thus the D coordinates value that can obtain between robot and insulator, also can judge the relative distance between current robot and insulator simultaneously, to ensure that operation distance judges the position residing for robot within safe range, determine the initial state of path planning;

Step 2: adopt linear interpolation mode to realize the auto-flushing of water flushing mechanical arm to the above-below direction of insulator chain; Adopt the circular interpolation mode of point-to-point comparison method to realize shower nozzle to clean the insulator chain towards robot side;

Step 3: when carrying out water and rinsing, by regulating hydraulic giant water outlet bore and going out water speed, forms Karman vortex street and realizes the flushing to position on rear side of insulator chain.

Judge the relative distance between current robot and insulator according to the ultrasonic range finder rinsed on platform and monitoring camera, guarantee operation distance is within safe range and judge the position residing for robot, to determine the initial state of path planning.

Before rinsing, by the dynamics constraint condition of the constraint distance of spray gun and insulator chain when rinsing, the mode of rinsing, system, comprise joint peak acceleration, maximal rate etc. import to water flushing device people path planning control system.

Fig. 2 is 4 steps that insulator rinses: 1. upwards rinse from bottom insulator, be flushed to insulator 1/4th place, then is flushed to bottom downwards; 2. upwards rinse from bottom insulator, be flushed to insulator 1/2nd place, then be flushed to bottom downwards; 3. upwards rinse from bottom insulator, be flushed to insulator 3/4ths place, then be flushed to bottom downwards; 4. upwards rinse from bottom insulator, be flushed to insulator top, then be flushed to bottom downwards.Water flushing device people realize Fig. 2 to insulator chain 1.-4. step above-below direction rinse time, flushing start the joint angles collecting initial time and end time motion arm.For the easy motion in single joint, lopcus function at least meets four constraintss.Wherein two is the joint angles that starting point and ending point is corresponding:

θ(0)＝θ ₀

θ(t _f)＝θ _f

In order to meet the continuity requirement of joint motions speed, also have two constraintss, i.e. the joint velocity requirement of starting point and terminating point in addition, in current situations, when namely starting to rinse, regulation:

θ'(0)＝0

θ'(t _f)＝0

What the constraints on above-mentioned four borders was unique determines a cubic polynomial:

θ(t)＝a ₀+a ₁t+a ₂t ²+a ₃t ³

The joint velocity of movement locus and acceleration are:

θ'(t)＝a ₁+2a ₂t+3a ₃t ²

θ″(t)＝2a ₂+6a ₃t

Substitute into corresponding constraint equation, obtain relevant coefficient a ₀, a ₁, a ₂, a ₃, can obtain:

a ₀＝θ ₀

a ₁＝0

$a_2=\frac{3}{{t_f}^2}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)$

$a_3=-\frac{2}{{t_f}^3}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)$

Determine the relation of time and angle thus, when a flush, specifically certain relative to insulator of car body, is set to, can obtains the length l=d/sin θ of insulating bar, bring formula θ (t)=a into ₀+ a ₁t+a ₂t ²+ a ₃t ³, relation over time can be obtained in flushing process:

$l\left(t\right)=\frac{d}{\sin (a_0+a_{1}t+a_2{t}^2+a_3{t}^3)}$

To (l, d, θ ₀, θ _f) carry out interpolation, generate water flushing mechanical arm to the flushing track of the above-below direction of insulator chain.

Joint velocity in path point can set as required, thus, determines that the method for cubic polynomial is just identical with described in linear interpolation, and just velocity restraint condition becomes:

θ'(0)＝θ ₀'

θ'(t _f)＝θ _f'

Determine that four equations of cubic polynomial are:

θ ₀＝a ₀

θ _f＝a ₀+a ₁t _f+a ₂t _f ²+a ₃t _f ³

θ ₀'＝a ₁

θ _f'＝a ₁+2a ₂t _f+3a ₃t _f ²

θ ₀, θ _f, θ ' ₀, θ ' _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

Solving equation group, can obtain the coefficient of cubic polynomial:

a ₀＝θ ₀

a ₁＝θ ₀'

$a_2=\frac{3}{{t_f}^2}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)-\frac{2}{t_f}{{\mathrm{\&theta;}}_0}^{\&prime;}-\frac{1}{t_f}{{\mathrm{\&theta;}}_f}^{\&prime;}$

$a_3=-\frac{2}{{t_f}^3}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)+\frac{1}{{t_f}^2}({{\mathrm{\&theta;}}_0}^{\&prime;}+{{\mathrm{\&theta;}}_f}^{\&prime;})$

θ ₀, θ _f, θ ' ₀, θ ' _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

The cubic polynomial determined thus describes the movement locus that starting point and terminating point have any given position and speed, remaining issues is exactly the joint velocity how determined in path point, in systems in which in order to ensure that acceleration in each path point is continuous, control system can the speed of selecting paths point automatically as requested.Continuous in order to ensure the acceleration of path point, can to couple together according to certain rule at path point place with two cubic curves in order to try and scrabble up required track, its constraints is: junction not only speed continuously, and acceleration is also continuous.

If the joint angles at path point place of process be θ _v, the joint velocity of 2, the front and back adjacent with this point is respectively θ ₀and θ _g.From θ ₀to θ _vinterpolation cubic polynomial be:

θ(t)＝a ₁₀+a ₁₁t+a ₁₂t ²+a ₁₃t ³

From θ _vto θ _ginterpolation cubic polynomial be:

θ(t)＝a ₂₀+a ₂₁t+a ₂₂t ²+a ₂₃t ³

The time interval of above-mentioned two cubic polynomials is respectively with to these two polynomial constraints be:

θ ₀＝a ₁₀

θ _v＝a ₁₀+a ₁₁t _f1+a ₁₂t _f1 ²+a ₁₃t _f1 ³

θ _v＝a ₂₀

θ _g＝a ₂₀+a ₂₁t _f2+a ₂₂t _f2 ²+a ₂₃t _f2 ³

0＝a ₁₁

0＝a ₂₁+2a ₂₂t _f2+3a ₂₃t _f2 ²

a ₁₁+2a ₁₂t _f1+3a ₁₃t _f1 ²＝a ₂₁

2a ₂₁+6a ₁₃t _f1＝2a ₂₂

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f1, t _f2for time parameter.

Above constraints has formed 8 linear equations containing 8 unknown numbers, for t _f1=t _f2=t _fsituation, this non trivial solution is:

a ₁₀＝θ ₀

a ₁₁＝0

$a_{12}=\frac{{12\mathrm{\&theta;}}_v-{3\mathrm{\&theta;}}_g-{9\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

$a_{13}=\frac{-8{\mathrm{\&theta;}}_v+3{\mathrm{\&theta;}}_g+5{\mathrm{\&theta;}}_0}{4{t_f}^2}$

a ₂₀＝θ _v

$a_{21}=\frac{3{\mathrm{\&theta;}}_g-3{\mathrm{\&theta;}}_0}{4t_f}$

$a_{22}=\frac{-12{\mathrm{\&theta;}}_v+6{\mathrm{\&theta;}}_g+6{\mathrm{\&theta;}}_0}{4{t_f}^2}$

$a_{23}=\frac{8{\mathrm{\&theta;}}_v-5{\mathrm{\&theta;}}_g-3{\mathrm{\&theta;}}_0}{4{t_f}^2}$

Ai _j, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f, t _f1, t _f2for time parameter.

We bring the coefficient obtained into θ (t)=a thus ₁₀+ a ₁₁t+a ₁₂t ²+ a ₁₃t ³, just can obtain the time dependent relation of joint angles.

To (X _i, Y _i, θ ₀, θ _f) carry out interpolation, generate the movement locus that water flushing device people is cleaned the insulator chain towards robot side.

For guaranteeing that shower nozzle can clean the insulator chain towards robot side, namely in Fig. 2 1.-2., 2.-3., 3.-middle transition process 4., adopts the circular interpolation mode of point-to-point comparison method.When carrying out circular interpolation, be initial point usually with the center of circle, the coordinate value according to circular arc Origin And Destination carries out interpolation.

If the circular arc starting point coordinate of circular interpolation is (X ₀, Y ₀), terminal point coordinate is (X _e, Y _e), for any point (X on circular arc _i, Y _i), have: X _i ²+ Y _i ²=R ², make F=X _i ²+ Y _i ²-R ²for departure function.As F > 0, this point, outside circle, moves a step to-X-direction fortune; As F < 0, this point, in circular arc, moves a step to+Y-direction fortune; For making motion continue, F=0 is included into the situation of F > 0, moving interpolation moves along circular arc to terminal all the time.The differentiation of circular interpolation calculates and can adopt following superposition computing:

If current point (X _i, Y _i) corresponding departure function is

F _i＝X _i ²+Y _i ²-R ²

After spray gun edge-X-direction makes a move

F _i+1＝(X _i-1) ²+Y _i ²-R ²＝F _i-2X _i+1

After spray gun edge+Y-direction makes a move

F _i+1＝X _i ²+(Y _i+1) ²-R ²＝F _i+2Y _i+1

End point judging can by n=|X _e-X ₀|+| Y _e-Y ₀| differentiate, often make a move and make n=n+1, till n=0.

Be more than the interpolation of first quartile against circular arc, the interpolation principle along inverse circular arc of other quadrant is similar to first quartile.

Path point is also regarded as " starting point " and " terminating point ", inverse kinematics is solved to these path point, obtain corresponding joint vector value, then required cubic algebraic curves function is determined, level and smooth for path point is coupled together, but the joint motions speed of these " starting points " and " terminating point " is no longer zero.

When carrying out water flushing, adjusting water outlet speed, makes Reynolds number meet 47<R _e<105, forms Karman vortex street.Vibration frequency is directly proportional to fluid velocity, is inversely proportional to the frontal width of bluff body, regulates hydraulic giant water outlet bore, realizes the adjustment to insulator chain vibration frequency, to produce good developing result.

By above step, the water providing a kind of transformer station water flushing device people rinses control mode, and the method can realize the accurate control that water flushing device people rinses operation, ensures the quality of rinsing, and reduces the potential safety hazard of livewire work, improves operating efficiency.

Claims (10)

1., based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, comprising:

Step one: according to the relative dimensional coordinate value being arranged on the image rinsing ultrasonic range finder on platform and monitoring camera collection distance and monitoring and obtaining between current robot and insulator, whether both judgements relative distance is safe distance, if, carry out next step, if not, the position of platform is rinsed in adjustment, until this relative distance is safe distance; Determine the initial state of path planning;

Step 2: control water flushing mechanical arm to the auto-flushing of the above-below direction of insulator chain by controlling it; Realize shower nozzle by control shower nozzle to clean the insulator chain towards robot side;

Step 3: when carrying out water and rinsing, by regulating hydraulic giant water outlet bore and going out water speed, forms Karman vortex street and realizes the adjustment to insulator chain vibration frequency.

2., as claimed in claim 1 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, in described step 2, to the auto-flushing of the above-below direction of insulator chain, detailed process is:

(2-1) in flushing process, the angular displacement sensor be arranged on the rotating shaft of each joint collects each joint angles of initial time and end time motion arm;

(2-2) for the easy motion in single joint, lopcus function θ (t) meets constraints, determination cubic polynomial unique according to the constraint equation that constraints is corresponding;

(2-3) obtain joint velocity and the acceleration of movement locus according to this cubic polynomial, the joint velocity of movement locus and acceleration are substituted into the coefficient that constraint equation obtains cubic polynomial, this coefficient determines washing time and the relation of rinsing angle;

(2-4) the length relation over time of insulating bar in flushing process is obtained according to the length of insulating bar and cubic polynomial, to (l, d, θ ₀, θ _f) carry out interpolation, generate water flushing mechanical arm to the flushing track of the above-below direction of insulator chain.

3., as claimed in claim 2 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, described constraints, wherein two is the joint angles that starting point and ending point is corresponding:

θ(0)＝θ ₀；

θ(t _f)＝θ _f；

Wherein, θ ₀, θ _ffor the joint angles of starting point and ending point.

4., as claimed in claim 3 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, when the joint velocity in path point is non-vanishing, velocity restraint condition becomes in addition:

θ'(0)＝θ ₀'

θ'(t _f)＝θ _f'。

5., as claimed in claim 4 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, by four equations of velocity restraint condition determination cubic polynomial be:

θ ₀＝a ₀

θ _f＝a ₀+a ₁t _f+a ₂t _f ²+a ₃t _f ³

θ ₀'＝a ₁

θ _f'＝a ₁+2a ₂t _f+3a ₃t _f ²

θ ₀, θ _f, θ ' ₀, θ ' _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

6., as claimed in claim 1 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, if the joint angles at path point place of process be θ _v, the joint velocity of 2, the front and back adjacent with this point is respectively θ ₀and θ _g, from θ ₀to θ _vinterpolation cubic polynomial be:

θ(t)＝a ₁₀+a ₁₁t+a ₁₂t ²+a ₁₃t ³

From θ _vto θ _ginterpolation cubic polynomial be:

θ(t)＝a ₂₀+a ₂₁t+a ₂₂t ²+a ₂₃t ³

The time interval of above-mentioned two cubic polynomials is respectively with

7. as claimed in claim 1 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, in described step 2, the insulator chain towards robot side is cleaned, adopt the circular interpolation mode of point-to-point comparison method; When carrying out circular interpolation, be initial point usually with the center of circle, the coordinate value according to circular arc Origin And Destination carries out interpolation.

8., as claimed in claim 7 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, carry out interpolation according to the coordinate value of circular arc Origin And Destination and be specially: set the circular arc starting point coordinate of circular interpolation as (X ₀, Y ₀), terminal point coordinate is (X _e, Y _e), for any point (X on circular arc _i, Y _i), have: X _i ²+ Y _i ²=R ², make F=X _i ²+ Y _i ²-R ²for departure function.As F > 0, this point, outside circle, moves a step to-X-direction fortune; As F < 0, this point, in circular arc, moves a step to+Y-direction fortune; For making motion continue, F=0 is included into the situation of F > 0, moving interpolation moves along circular arc to terminal all the time.

9. as claimed in claim 8 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, the differentiation of circular interpolation calculates and adopts following superposition computing:

If current point (X _i, Y _i) corresponding departure function is

F _i＝X _i ²+Y _i ²-R ²

After spray gun edge-X-direction makes a move

F _i+1＝(X _i-1) ²+Y _i ²-R ²＝F _i-2X _i+1

After spray gun edge+Y-direction makes a move

F _i+1＝X _i ²+(Y _i+1) ²-R ²＝F _i+2Y _i+1

End point judging can by n=|X _e-X ₀|+| Y _e-Y ₀| differentiate, often make a move and make n=n+1, till n=0;

To (X _i, Y _i, θ ₀, θ _f) carry out interpolation, generate the movement locus that water flushing device people is cleaned the insulator chain towards robot side.

10., as claimed in claim 1 based on the water flush control method of the transformer station water flushing device people of supersonic sounding, it is characterized in that, in described step 3, the condition that Karman vortex street is formed: cylinder in a fluid, its Reynolds number meets 47<R _e<105, Reynolds number is used for characterizing fluid mobility status, with R _erepresent, R _e=ρ vl/ η, wherein v, ρ, η are respectively the flow velocity of fluid, density and viscosity coefficient, and l is a characteristic length.