CN105013735B - The water flush control method of the transformer station water flushing device people based on laser ranging - Google Patents
The water flush control method of the transformer station water flushing device people based on laser ranging Download PDFInfo
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Abstract
The invention discloses the water flush control method of the transformer station water flushing device people based on laser ranging, image according to being arranged on the laser range finder and monitoring camera collection distance and monitoring rinsing on platform obtains the relative distance between current robot and insulator, judge whether this relative distance is safe distance, if, carry out next step, if it is not, adjustment position, until this relative distance is safe distance；Determine the initial state of path planning；Realize the auto-flushing of the above-below direction to insulator chain for the water flushing tool arm using linear interpolation mode；Realize shower nozzle using the circular interpolation mode of point-to-point comparison method the insulator chain towards robot side can be carried out；When carrying out water flushing, by adjusting hydraulic giant water outlet bore and going out water speed, form Karman vortex street and simultaneously realize the regulation to insulator chain frequency of vibration.The present invention makes robot be operated in safe distance, makes the beginning and end accurate positioning of flushing track, improves the quality rinsed and efficiency.
Description
Technical field
The present invention relates to robot field, the water of more particularly, to a kind of transformer station water flushing device people based on laser ranging
Purging method.
Background technology
With developing rapidly of industrial economy and urban construction, the seriality that transformer station is powered and quality propose more next
Higher requirement.It is chronically exposed in the Nature yet with transmission line equipment, particularly industrialized regions, coastal and salt-soda soil
Region, by industrial waste gas, sea water with nature is saline and alkaline, dust is affected it will usually be formed to a certain degree in its insulator surface
Filth.These contain the filth of salt, acid, alkaline components, in general water soluble, and filth becomes electrolyte after being dissolved in water,
There is very strong electric conductivity.The insulator being contaminated, conductance increases, and insulating properties reduce, and leakage current sharply increases, its sudden strain of a muscle
Network voltage substantially reduces, and is now easy for dirt flashover.When insulator design is revealed than away from insulator that is inadequate or adopting
When can not meet filth and requiring, pollution flashover probably occurs.Pollution flashover accident, once occurring, can directly result in user's large area, length
Time has a power failure, and causes power supply reliability to decline, thus bringing 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 it is ensured that power network safety operation and electric power are reliable
Supply is just particularly important.
At present, Substation Insulator water rinse there is problems that：
1st, the cleaning works of Substation Insulator mainly adopts power failure hand sweeping or living water washing.Artificial using having a power failure
Cleaning quality is low, equipment cleaning works is in passive state it is impossible to obtain in good time cleaning, and these all can be to transformer station's power transmission line
The safe and stable operation on road causes certain hidden danger.
2nd, the cleaning works of part Substation Insulator relies on machine to carry out, but automatization level is low, controls not essence
Really, thus leading to the cleaning to Substation Insulator not thoroughly it is impossible to meet safety requirements.
Livewire work is capable of based on the transformer station water flushing device people that this invents, 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 carry out water with regard to water flushing device people and rinse work
Path planning problem during industry also imperfection.
Content of the invention
For solving the deficiency that prior art exists, the invention discloses a kind of transformer station's water flushing based on laser ranging
The water flush control method of device people, this flushing control mode is used for planning the road that water flushing device people is rinsed to insulator
Footpath, distance between adjustment spray gun and insulator, adjust in flushing process and flush out water speed formation Karman vortex street etc..Can be effectively
Ensure robot smoothness run in flushing process, realize error and acceleration is controlled, and there is good developing result.
For achieving the above object, the concrete scheme of the present invention is as follows：
The water flush control method of the transformer station water flushing device people based on laser ranging, including：
Step one：According to the figure being arranged on the laser range finder and monitoring camera collection distance and monitoring rinsing on platform
As obtaining the relative dimensional coordinate figure between current robot and insulator, judge whether both relative distances are safe distances,
If so, carry out next step, if it is not, the position of platform is rinsed in adjustment, until this relative distance is safe distance；Determine that path is advised
The initial state drawn；
Step 2：Realize the automatic punching of the above-below direction to insulator chain for the water flushing tool arm using linear interpolation mode
Wash；
Step 3：Realizing shower nozzle using the circular interpolation mode of point-to-point comparison method can be to the insulation towards robot side
Substring is carried out；
Step 4：When carrying out water flushing, by adjusting hydraulic giant water outlet bore and going out water speed, form Karman vortex street reality
The now regulation to insulator chain frequency of vibration.
In described step 2, detailed process is：
(2-1) in flushing process, the angular displacement sensor being arranged in the rotary shaft of each joint collects initial time
And each joint angles of end time motion arm；
(2-2) for the easy motion of single joint, lopcus function θ (t) at least meets four constraintss, according to constraint
The corresponding constraint equation of condition uniquely determines a cubic polynomial；
(2-3) joint velocity and the acceleration of movement locus are obtained according to this cubic polynomial, by the joint of movement locus
Velocity and acceleration substitutes into the coefficient that constraint equation obtains cubic polynomial, and this coefficient determines washing time and rinses angle
Relation；
(2-4) length according to insulating bar and cubic polynomial obtain the change in time of the length of insulating bar in flushing process
Change relation, to (l, d, θ0,θf) enter row interpolation, generate the flushing track of the above-below direction to insulator chain for the water flushing tool arm.
Described constraints, two of which is the corresponding joint angles of starting point and ending point：
θ (0)=θ0；
θ(tf)=θf；
Wherein, θ0,θfJoint angles for starting point and ending point；
Seriality in order to meet joint motions speed requires, in addition also two constraints, i.e. starting point and termination
The joint velocity of point requires, and specifies：
θ ' (0)=0；
θ'(tf)=0；
Wherein, θ ' (0), θ ' (tf) for starting point and ending point joint angular velocity.
The constraints on described four borders uniquely determines a cubic polynomial：
θ (t)=a0+a1t+a2t2+a3t3(1)；
Wherein, θ (t) is the joint angles of time parameter t, a0,a1,a2,a3For undetermined coefficient.
The joint velocity of described movement locus and acceleration are：
θ ' (t)=a1+2a2t+3a3t2(2)
θ " (t)=2a2+6a3t (3)
The described joint velocity by movement locus substitutes into constraint equation (1) with acceleration, obtains undetermined coefficient a0, a1, a2,
a3：
a0=θ0
a1=0
Thereby determine that the relation of time and angle, when a flush, car body is certain with respect to the distance of insulator
, it is set to d, the length l=d/sin θ of insulating bar can be obtained, bring formula θ (t)=a into0+a1t+a2t2+a3t3, can be rinsed
During insulating bar length relation over time：
Using the circular interpolation of point-by-point comparison, to (l, d, θ0,θf) enter row interpolation, generate water flushing tool arm to insulation
The flushing track of the above-below direction of substring.
In described step 3, the circular interpolation detailed process of point-by-point comparison is as follows：
Circular arc starting point coordinate is (X0,Y0), terminal point coordinate is (Xe,Ye), for any point (X on circular arci,Yi), have：Xi 2+
Yi 2=R2, make F=Xi 2+Yi 2-R2For departure function, as F ＞ 0, this point is outer in 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
All the time move along circular arc and to terminal.
The differentiation of circular interpolation calculates can be using following superposition computing：
If current point (Xi,Yi) corresponding departure function is
Fi=Xi 2+Yi 2-R2
After spray gun makes a move along -X direction：
Fi+1=(Xi-1)2+Yi 2-R2=Fi-2Xi+1
After spray gun makes a move along +Y direction：
Fi+1=Xi 2+(Yi+1)2-R2=Fi+2Yi+1
End point judging can be by n=| Xe-X0|+|Ye-Y0| differentiate, often making a move makes n=n+1, till n=0.
In described step 4, the condition that Karman vortex street is formed：Cylinder in a fluid, its Reynolds number meets 47<Re<
105, Reynolds number is used for characterizing flow of fluid situation, with ReRepresent, Re=ρ vl/ η, wherein v, ρ, η are respectively the flow velocity, close of fluid
Degree and viscosity coefficient, l is a characteristic length；
Insulator chain frequency of vibration is directly proportional to fluid (water) speed, is inversely proportional to the frontal width of bluff body, karman vortex
Street frequency is that swirl generating body width has following relation with fluid velocity and bluff body：F=SrV/d, wherein f=Karman vortex street frequency
Rate；Sr=Strouhal number；V=fluid velocity；D=bluff body heads on width；
By adjusting hydraulic giant water outlet bore and going out water speed, form Karman vortex street and realize to insulator chain frequency of vibration
Adjust, to produce good developing result.
When rinsing insulator, current are peeled off from insulator both sides, form alternate vortex, this alternate vortex, make absolutely
The spot speed of edge both sides current is different, and water velocity is different, and the instantaneous pressure that insulator both sides are subject to is also different, therefore makes
Insulator vibrates, and reaches, by this vibrations of insulator, the effect taking out stains.By adjust hydraulic giant water outlet bore and
Go out water speed, form Karman vortex street and change frequency of vibration, to strengthen the water developing result of water flushing device people.
Beneficial effects of the present invention：
1) gained track can guarantee that in above-below direction straightway and towards the flush position between the arc section of shower nozzle side
Continuous with speed.The execution time that robot can be made minimizes, thus improving the flush efficiency of water flushing device people, makes robot
Actuator be easier follow the tracks of.
2) adopt photographic head and laser range finder, the current position of real-time monitoring, make robot be operated in safe distance, protect
Card rinses the beginning and end accurate positioning of track, thus improving quality and the efficiency of flushing.
3) used the principle of Karman vortex street, flushing level can have been improved it is ensured that insulator under minimal motion
Dirt on string is cleared up to greatest extent.
Brief description
The flow chart that Fig. 1 water rinses control mode；
The schematic diagram of Fig. 2 water backwashing manner；
The track schematic diagram of Fig. 3 circular interpolation.
Specific embodiment：
The present invention is described in detail below in conjunction with the accompanying drawings：
As Figure 1-3, the water flush control method of the transformer station water flushing device people based on laser ranging, including following
Step：
Step one：Set up robot path planning's model；Laser range finder according to being arranged on flushing platform can obtain
Depth distance between robot and insulator, then image recognition is carried out to the picture being obtained by monitoring camera, thus can obtain
D coordinates value between robot and insulator, also can determine whether simultaneously between current robot and insulator relative away from
From it is ensured that with a distance from operation within safety range and judge robot location, determining the initial state of path planning；
Step 2：Realize the automatic punching of the above-below direction to insulator chain for the water flushing tool arm using linear interpolation mode
Wash；
Step 3：Realizing shower nozzle using the circular interpolation mode of point-to-point comparison method can be to the insulation towards robot side
Substring is carried out；
Step 4：When carrying out water flushing, by adjusting hydraulic giant water outlet bore and going out water speed, form Karman vortex street reality
The now flushing to position on rear side of insulator chain.
Phase between current robot and insulator is judged according to the laser range finder rinsing on platform and monitoring camera
Adjust the distance it is ensured that operation distance and judges robot location within safety range, to determine the initial of path planning
State.
Before rinsing, by the constraint distance of spray gun and insulator chain when rinsing, the mode rinsed, system kinetics about
Bundle condition, including joint peak acceleration, maximal rate etc. imports to water flushing device people's path planning control system.
4 steps that Fig. 2 rinses for insulator：1. start to rinse upwards from insulator bottom, be flushed to four points of insulator
One of place, be flushed to bottom still further below；2. start to rinse upwards from insulator bottom, be flushed at insulator 1/2nd, then
It is flushed to downwards bottom；3. start to rinse upwards from insulator bottom, be flushed at insulator 3/4ths, be flushed to still further below
Bottom；4. start to rinse upwards from insulator bottom, be flushed to insulator top, be flushed to bottom still further below.Water flushing device
People realize Fig. 2 to insulator chain 1. -4. step above-below direction rinse when, start to collect initial time and end in flushing
The only joint angles of moment motion arm.For the easy motion of single joint, lopcus function at least meets four constraintss.Its
In two be the corresponding joint angles of starting point and ending point：
θ (0)=θ0
θ(tf)=θf
Seriality in order to meet joint motions speed requires, in addition also two constraints, i.e. starting point and termination
Point joint velocity require, in current situations, that is, start rinse when it is stipulated that：
θ ' (0)=0
θ'(tf)=0
The constraints on aforementioned four border uniquely determines a cubic polynomial：
θ (t)=a0+a1t+a2t2+a3t3
The joint velocity of movement locus and acceleration are：
θ ' (t)=a1+2a2t+3a3t2
θ " (t)=2a2+6a3t
Substitute into corresponding constraint equation, obtain relevant coefficient a0, a1, a2, a3, can obtain：
a0=θ0
a1=0
Thereby determine that the relation of time and angle, when a flush, car body is specifically certain with respect to insulator
, it is set to, the length l=d/sin θ of insulating bar can be obtained, bring formula θ (t)=a into0+a1t+a2t2+a3t3, can obtain flushed
Relation over time in journey：
To (l, d, θ0,θf) enter row interpolation, generate the flushing track of the above-below direction to insulator chain for the water flushing tool arm.
Joint velocity in path point can set as needed, thus, determines the method for cubic polynomial just and straight line
Identical described in interpolation, simply velocity restraint condition is changed into：
θ ' (0)=θ0'
θ'(tf)=θf'
Four equations determining cubic polynomial are：
θ0=a0
θf=a0+a1tf+a2tf 2+a3tf 3
θ0'=a1
θf'=a1+2a2tf+3a3tf 2
θ0,θf,θ′0,θ′fIt is respectively starting point and time parameter tfThe angle in moment and angular velocity, a0,a1,a2,a3For
Undetermined coefficient.
Solving equation group, can get the coefficient of cubic polynomial：
a0=θ0
a1=θ0'
θ0,θf,θ′0,θ′fIt is respectively starting point and time parameter tfThe angle in moment and angular velocity, a0,a1,a2,a3For
Undetermined coefficient.
The cubic polynomial thereby determining that describes starting point and terminating point has the motion of any given position and speed
Track, remaining issues is how to determine the joint velocity in path point, in systems in order to ensure in each path point
Acceleration is continuous, and control system can automatically select the speed of path point as requested.Acceleration in order to ensure path point is continuous,
Can manage to be coupled together according to certain rule at path point with two cubic curves and scrabble up required track, its constraint
Condition is：Not only speed is continuous for junction, and acceleration is also continuous.
If the joint angles at paths traversed point are θv, adjacent with this point before and after 2 points of joint velocity be respectively
θ0And θg.From θ0To θvInterpolation cubic polynomial be：
θ (t)=a10+a11t+a12t2+a13t3
From θvTo θgInterpolation cubic polynomial be：
θ (t)=a20+a21t+a22t2+a23t3
The time interval of above-mentioned two cubic polynomial is respectivelyWithPolynomial to this two about
Shu Shi：
θ0=a10
θv=a10+a11tf1+a12tf1 2+a13tf1 3
θv=a20
θg=a20+a21tf2+a22tf2 2+a23tf2 3
0=a11
0=a21+2a22tf2+3a23tf2 2
a11+2a12tf1+3a13tf1 2=a21
2a21+6a13tf1=2a22
aij, i=1,2, j=0,1,2,3, it is undetermined coefficient, tf1,tf2For time parameter.
Constraints above condition constitutes 8 linear equation containing 8 unknown numbers, for tf1=tf2=tfSituation, this
Individual non trivial solution is：
a10=θ0
a11=0
a20=θv
aij, i=1,2, j=0,1,2,3, it is undetermined coefficient, tf,tf1,tf2For time parameter.
Thus we bring the coefficient obtaining into θ (t)=a10+a11t+a12t2+a13t3It is possible to obtain joint angles with
The relation of time change.
To (Xi,Yi,θ0,θf) enter row interpolation, generate water flushing device people is entered to the insulator chain towards robot side
The movement locus of row cleaning.
For guaranteeing that shower nozzle can be carried out to the insulator chain towards robot side, that is, in Fig. 2 1. -2., 2. -3.,
3.-middle transition process 4., using the circular interpolation mode of point-to-point comparison method.When carrying out circular interpolation, with the center of circle it is generally
Initial point, the coordinate figure according to circular arc Origin And Destination is carrying out interpolation.
If the circular arc starting point coordinate of circular interpolation is (X0,Y0), terminal point coordinate is (Xe,Ye), for any point on circular arc
(Xi,Yi), have：Xi 2+Yi 2=R2, make F=Xi 2+Yi 2-R2For departure function.As F ＞ 0, this point is outer in circle, moves to -X direction
One step；As F ＜ 0, this point, in circular arc, moves a step to +Y direction fortune；For making motion continue, F=0 is included into F ＞'s 0
Situation, moving interpolation moves along circular arc and to terminal all the time.The differentiation of circular interpolation calculates can be using following superposition computing：
If current point (Xi,Yi) corresponding departure function is
Fi=Xi 2+Yi 2-R2
After spray gun makes a move along -X direction
Fi+1=(Xi-1)2+Yi 2-R2=Fi-2Xi+1
After spray gun makes a move along +Y direction
Fi+1=Xi 2+(Yi+1)2-R2=Fi+2Yi+1
End point judging can be by n=| Xe-X0|+|Ye-Y0| differentiate, often making a move makes n=n+1, till n=0.
It is interpolation, the interpolation principle of suitable inverse circular arc of other quadrants and first quartile phase against circular arc for the first quartile above
Seemingly.
Path point is also regarded as " starting point " and " terminating point ", inverse kinematics is solved to these path point, obtain corresponding
Joint vector value, it is then determined that required cubic algebraic curves function, coupling together that path point smooths, but this
The joint motions speed of " starting point " and " terminating point " is no longer zero a bit.
When carrying out water flushing, adjusting water outlet speed, make Reynolds number meet 47<Re<105, form Karman vortex street.Frequency of vibration
It is directly proportional to fluid velocity, is inversely proportional to the frontal width of bluff body, adjust hydraulic giant water outlet bore, realize insulator chain is vibrated
The regulation of frequency, to produce good developing result.
By above step, there is provided a kind of water of transformer station water flushing device people rinses control mode, and the method can
Realizing the quality it is ensured that rinsing that is precisely controlled that water flushing device people rinses operation, reducing the potential safety hazard of livewire work, improve
Working performance.
Claims (9)
1. the water flush control method of the transformer station water flushing device people based on laser ranging, is characterized in that, including：
Step one：Image according to being arranged on the laser range finder and monitoring camera collection distance and monitoring rinsing on platform obtains
To the relative distance between current robot and insulator, judge whether this relative distance is safe distance, if so, carry out next
Step, if it is not, adjustment position, until this relative distance is safe distance；Determine the initial state of path planning；
Step 2：Realize the auto-flushing of the above-below direction to insulator chain for the water flushing tool arm using linear interpolation mode；
Step 3：Realizing shower nozzle using the circular interpolation mode of point-to-point comparison method can be to the insulator chain towards robot side
It is carried out；
Step 4：When carrying out water and rinsing, by adjusting hydraulic giant water outlet bore and go out water speed, formed Karman vortex street and realize right
The regulation of insulator chain frequency of vibration；
In described step 2, detailed process is：
(2-1) joint angles of initial time and end time motion arm are collected in flushing process；
(2-2) for the easy motion of single joint, lopcus function θ (t) at least meets four constraintss, according to constraints
Corresponding constraint equation uniquely determines a cubic polynomial；
(2-3) joint velocity and the acceleration of movement locus are obtained according to this cubic polynomial, by the joint velocity of movement locus
Substitute into the coefficient that constraint equation obtains cubic polynomial with acceleration, this coefficient determines washing time and rinses the pass of angle
System；
(2-4) length according to insulating bar and cubic polynomial obtain the length of insulating bar in flushing process and close over time
System, to (l, d, θ0,θf) enter row interpolation, generate the flushing track of the above-below direction to insulator chain for the water flushing tool arm.
2. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, described constraints, and two of which is the corresponding joint angles of starting point and ending point：
θ (0)=θ0；
θ(tf)=θf；
Wherein, θ0,θfJoint angles for starting point and ending point.
3. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, the seriality in order to meet joint motions speed requires, in addition also two constraints, i.e. starting point and terminating point
Joint velocity require it is stipulated that：
θ ' (0)=0；
θ'(tf)=0；
Wherein, θ ` (0), θ ` (tf) for starting point and ending point joint angular velocity.
4. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, described four constraintss uniquely determine a cubic polynomial：
θ (t)=a0+a1t+a2t2+a3t3；
Wherein, θ (t) is the joint angles of time parameter t, a0,a1,a2,a3For undetermined coefficient.
5. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, the joint velocity of described movement locus and acceleration are：
θ ' (t)=a1+2a2t+3a3t2
θ " (t)=2a2+6a3t.
6. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, the described joint velocity by movement locus substitutes into corresponding constraint equation with acceleration, obtains relevant coefficient a0, a1, a2,
a3：
a0=θ0
a1=0
Thereby determine that the relation of time and angle, when a flush, car body is certain with respect to the distance of insulator, if
For d, the length l=d/sin θ of insulating bar can be obtained, bring formula θ (t)=a into0+a1t+a2t2+a3t3, can obtain in flushing process
The length of insulating bar relation over time：
To (l, d, θ0,θf) enter row interpolation, generate the flushing track of the above-below direction to insulator chain for the water flushing tool arm.
7. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, in described step 3, the circular interpolation mode detailed process of point-to-point comparison method is as follows：
Circular arc starting point coordinate is (X0,Y0), terminal point coordinate is (Xe,Ye), for any point (X on circular arci,Yi), have：Xi 2+Yi 2=
R2, make F=Xi 2+Yi 2-R2For departure function, as F ＞ 0, this point is outer in circle, moves a step to -X direction fortune；As F ＜ 0, this point
In circular arc, move a step to +Y direction fortune；For making motion continue, F=0 is included into the situation of F ＞ 0, moving interpolation is all the time
Move along circular arc and to terminal.
8. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 6, it is special
Levying is, the differentiation of circular interpolation calculates can be using following superposition computing：
If current point (Xi,Yi) corresponding departure function is
Fi=Xi 2+Yi 2-R2
After spray gun makes a move along -X direction：
Fi+1=(Xi-1)2+Yi 2-R2=Fi-2Xi+1
After spray gun makes a move along +Y direction：
Fi+1=Xi 2+(Yi+1)2-R2=Fi+2Yi+1
End point judging can be by n=| Xe-X0|+|Ye-Y0| differentiate, often making a move makes n=n+1, till n=0.
9. the water flush control method of the transformer station water flushing device people based on laser ranging as claimed in claim 1, it is special
Levying is, in described step 4, the condition that Karman vortex street is formed：Cylinder in a fluid, its Reynolds number meets 47<Re<105,
Reynolds number is used for characterizing flow of fluid situation, with ReRepresent, Re=ρ vl/ η, wherein v, ρ, η be respectively the flow velocity of fluid, density with
Viscosity coefficient, l is a characteristic length.
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| CN107962589B (en) * | 2017-06-09 | 2020-07-28 | 国网山东省电力公司电力科学研究院 | Insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses |
| CN110528792B (en) * | 2019-09-09 | 2021-06-25 | 安徽凤胜建筑有限公司 | Automatic descaling sewage pipe for building |
| WO2021098443A1 (en) * | 2019-11-21 | 2021-05-27 | 苏州宝时得电动工具有限公司 | Cleaning device control method and apparatus, and cleaning device |
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