CN105045157B - Substation's living water washing robot control system and method - Google Patents

Substation's living water washing robot control system and method Download PDF

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Publication number
CN105045157B
CN105045157B CN201410459319.0A CN201410459319A CN105045157B CN 105045157 B CN105045157 B CN 105045157B CN 201410459319 A CN201410459319 A CN 201410459319A CN 105045157 B CN105045157 B CN 105045157B
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control
platform
module
hydraulic
substation
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CN105045157A (en
Inventor
鲁守银
李健
陈强
慕世友
任杰
傅孟潮
韩磊
王振利
谭林
吕曦晨
张海龙
王滨海
李建祥
赵金龙
高郎宏
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State Grid Intelligent Technology Co Ltd
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Shandong Luneng Intelligence Technology Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback

Abstract

The invention discloses substation's living water washing robot control system and method, which includes remote control module, vehicle-mounted monitoring module and platform information acquisition module;The data interaction that wireless builds WIFI network realizes three intermodules is all made of between the remote control module and vehicle-mounted monitoring module and between vehicle-mounted monitoring module and platform information acquisition module;The heavy physical labor that artificial cleaning can effectively be mitigated ensures the personal safety of operating personnel, while by the cleaning to equipment filth, the safe operation for preventing equipment pollution flashover accident, ensureing power grid.

Description

Substation's living water washing robot control system and method
Technical field
The present invention relates to substation's living water washing robot control system and methods.
Background technology
As air environmental pollution is on the rise, grid equipment pollution flashover accident increases, and seriously affects grid equipment and transports safely Row.It is the main reason for causing substation equipment pollution flashover, according to statistics, caused by filth that insulator surface, which deposited filthy substance, Insulation flashover accident has accounted for the 2nd in power grid accident sum at present, the whole nations only 1971-1994 35-500kV hairs, power transformation It stands with regard to 1768 order of seats of pollution flashover.Adopting an effective measure prevents the generation of electric grid large area pollution flashover accident, is to improve power grid power supply reliably One of the important content of property.
And filth is not only needed to expend huge man power and material, also serious shadow according to the mode cleaned that has a power failure Ring the continuity of power supply.As net capacity increases, equipment have a power failure chance is fewer and fewer, power off time is also shorter and shorter.If The standby measure for cleaning and becoming and being difficult to realize that has a power failure.For timely cleaning equipment surface filth, prevent equipment pollution flashover accident, electrification water punching It is a kind of current more general means to wash.However, living water washing labor intensity is big, and due to close apart from charging equipment, There is certain influence to the personal safety of operating personnel.
Operation is rinsed in Substation Insulator at this stage to have the following disadvantages:
1, backwashing manner is to hold flushing device by cleaning technique personnel to enter scene progress operation mostly, and artificial flushing is not Only rely upon weather condition, it is also necessary to which cleaning personnel have the operating process horizontal and skilled compared with high-tech, are carried out to insulator The security protection that high standard is needed when living water washing causes casualties to avoid safety accident caused by short circuit current, this There are security risks for class operating type;Manual work is faced with that labor intensity is big, and efficiency is low, and automatization level is low etc. many asks Topic;
2, living water washing operation is considered by rinsing angle, various influences such as hydraulic pressure, manual work is sometimes not The dunghill on equipment outer insulation surface is washed away can completely;Without automation control system, the continuity of power supply is kept.
Therefore research and development can realize automatic, remote control control system to drive water flushing device people to carry out electrification water punching Washing operation is necessary, and meets research.
Invention content
To solve the shortcomings of the prior art, the invention discloses substation's living water washing robot control system and Method, substation's livewire work water flushing device people's system can replace operating personnel, in the case where not having a power failure to substation Equipment carries out robot living water washing operation, can effectively mitigate the heavy physical labor of artificial cleaning, ensures operation The personal safety of personnel, while by the cleaning to equipment filth, the safe operation for preventing equipment pollution flashover accident, ensureing power grid.
To achieve the above object, concrete scheme of the invention is as follows:
Substation's living water washing robot control system includes remote control module, vehicle-mounted monitoring module and platform information acquisition Module;It is all made of between the remote control module and vehicle-mounted monitoring module and between vehicle-mounted monitoring module and platform information acquisition module Wireless device builds WIFI network, realizes the data interaction of three intermodules;
Remote control module issues mechanical arm control command by wireless WIFI to TRIO controllers, realizes the open loop control of mechanical arm System;Industrial personal computer, TRIO controllers, hydraulic proportion valve and each axis angular transducer form closed-loop control system again, realize to machine The Close loop servo control of tool arm.
The remote control module includes by industrial personal computer, touch screen, remote-control handle and button, in the controls, on the one hand, distant Control handle, touch screen and button are connect with industrial personal computer, and mechanical arm control command is issued to TRIO controllers by wireless WIFI, Realize the opened loop control of mechanical arm;On the other hand, the angular transducer of industrial personal computer, TRIO controllers, hydraulic proportion valve and each axis Closed-loop control system is formed again, realizes the Close loop servo control to mechanical arm.
For the vehicle-mounted monitoring module arrangement on water flushing device people's carrying platform, hydraulic proportion valve is vehicle-mounted monitoring mould The end effector mechanism of block controls the ranging from 0-12V of voltage, and 6V is middle position, and hydraulic proportion valve controls hydraulic motor at this time Stop motion;When input voltage is more than 6V, control hydraulic motor rotates in the forward direction, and when input voltage is less than 6V, controls hydraulic pressure Motor reversely rotates, and is connect with each joint hydraulic proportioning valve input port by TRIO controller IO delivery outlets, by controlling TRIO The output voltage of controller delivery outlet realizes the control of the direction of motion and movement velocity of robot hydraulic actuating mechanism.
The angle in each joint of angular transducer collection machinery arm of the platform information acquisition module and vehicle-mounted monitoring module RS485 protocol datas are converted to Transmission Control Protocol data by serial server, and are sent data to wirelessly by HUB by information AP modules, and then realize the real-time communication with remote control end industrial personal computer.
The platform information acquisition module is arranged on water flushing device people's hydraulic giant platform, and platform information acquisition module is logical It crosses wireless CLIENT and establishes WIFI communication with the wireless aps in main control module and connect, platform information acquisition module passes through serial port service Device acquires platform pitching, the platform inclination data that Absolute neutron flux obtains, and is uploaded to remote control mould by WIFI network In the industrial personal computer of block, realize to the real-time acquisition of sensor device information on hydraulic giant platform.
The vehicle-mounted monitoring module is for realizing large arm rotation, large arm pitching, forearm are flexible, platform pitching, platform rotation And the acquisition of the control and each joint angles information of body movement;
The platform information acquisition module acquires the platform pitching that Absolute neutron flux obtains by serial server And platform inclination data, and be uploaded in the industrial personal computer of remote control module by WIFI network;
The remote control module includes industrial personal computer, and the sensor information of industrial personal computer collecting platform information acquisition module acquisition is led to Cross the control that TRIO controllers realize mechanical arm and car body.
The wireless device is wireless aps and wireless CLIENT equipment.
Substation's living water washing robot control method, includes the following steps:
The platform information acquisition module of robot master control system acquires Absolute neutron flux by serial server The platform pitching of acquisition, platform inclination data, and be uploaded in the industrial personal computer of remote control module by WIFI network, it realizes to water The real-time acquisition of sensor device information on rifle platform;
Industrial personal computer collects the sensor information of each information acquisition module acquisition, and the analyzing processing to information generates robot Control strategy realizes the control of mechanical arm and car body by the TRIO controllers in main control module;
Remote control module can issue mechanical arm control command by wireless WIFI to TRIO controllers, realize the open loop of mechanical arm Control;Industrial personal computer, TRIO controllers, hydraulic proportion valve and each axis angular transducer form closed-loop control system again, realize pair The Close loop servo control of mechanical arm.
It is 1mm*1mm, measurement distance 1.5m to 8m that the laser range finder, which uses red laser, light source hot spot, is measured Time is 1 to 5 millisecond.
Beneficial effects of the present invention:
(1) substation's livewire work water flushing device intelligent control system can replace operating personnel, what is do not had a power failure In the case of robot living water washing operation is carried out to substation equipment, can effectively mitigate the heavy muscle power of artificial cleaning Labour ensures the personal safety of operating personnel, while by the cleaning to equipment filth, preventing equipment pollution flashover accident, ensureing electricity The safe operation of net.
(2) substation's livewire work water flushing device intelligent control system realizes water using multi-sensor fusion technology The automatic realization of flushing process improves automation and intelligent level that water rinses operation;
(3) substation's livewire work water flushing device intelligent control system realizes water resistance rate, hydraulic pressure, water column length Real time on-line monitoring, and according to the data modification robot operating status, effectively increase the safety that water rinses operation.
Description of the drawings
Fig. 1 water flushing device people master control system overall block diagrams of the present invention;
Fig. 2 robot control system vehicle-mounted monitoring modules of the present invention and remote control module block diagram;
The control system block diagram of Fig. 3 present invention.
Specific implementation mode:
The present invention is described in detail below in conjunction with the accompanying drawings:
Substation's livewire work water flushing device people system prepares son by robot body subsystem and High Pressure Pure Water System two large divisions forms.Robot body subsystem is designed using movable type mechanical arm configuration, and end is installed by hydraulic giant machine Structure can complete more complex living water washing operation by the control to the subsystem;It is main that High Pressure Pure Water prepares subsystem Realize the preparation of high resistivity pure water and the pressurized operation of the high purity water.High-pressure water pipe and the height in High Pressure Pure Water preparation system The water inlet of pure water making machine is connected, and is connect with the hydraulic giant water inlet of water flushing device human body, and son is prepared by High Pressure Pure Water System provides high resistivity pure water to robot body subsystem.Robot body subsystem includes the crawler-type traveling of bottom Mechanism, the five degree-of-freedom manipulator above crawler type walking mechanism, the hydraulic giant control platform mounted on mechanical arm tail end Composition.Wherein crawler type walking mechanism uses diesel type engine driving;Five degree-of-freedom manipulator includes that large arm rotates, large arm is bowed Face upward, forearm is flexible, five joints are turned round in wrist pitching and wrist, each joint is all made of hydraulic driving mode, by control system control The opening direction and openings of sizes of hydraulic proportion valve processed, the realization hydraulic motor direction of motion and movement velocity accurately control;
High Pressure Pure Water prepares subsystem, including:The compositions such as high-purity water preparation apparatus and pressure of supply water device.It is high-purity Water preparation apparatus realizes that the preparation of high resistivity pure water, the resistivity of output water can reach using two steps ro technology 1MΩ;Pressure of supply water device is added the high purity water that high-purity water preparation apparatus generates using the adjustable pressure plunger pump of output pressure High Pressure Pure Water is transported to water flushing device human body's system by pressure by high-pressure water pipe, and the pressure of the output water of the device is maximum 10MPa can be reached.Water source needed for the High Pressure Pure Water preparation facilities is ordinary tap water, after device filtering, be can reach Charged electric power apparatus water rinses the water resistance rate requirement required by directive/guide.
Substation's water flushing device people control system is realized by the aperture control of control hydraulic proportion valve and large arm rotates, Large arm pitching, forearm is flexible, platform pitching, platform rotates and the movement of moving body accurately controls, and by each in mechanical arm The angle and displacement sensor of joint installation, realize the real time monitoring of water flushing device people's movable information;
Water flushing device people master control system is by Robot remote module, vehicle-mounted monitoring module and platform information acquisition module group At connection block diagram is as shown in Figure 1.Since living water washing robot of substation is operated under high-voltage electromagnetic field environment, consider The safety run to equipment, each intermodule cannot use wired electrical connection, therefore the present invention is using wireless aps and wirelessly CLIENT equipment builds WIFI network, realizes the data interaction of above-mentioned three intermodule.
Vehicle-mounted monitoring module arrangement is bowed on water flushing device people's carrying platform for realizing the rotation of machine large arm, large arm Face upward, forearm is flexible, platform pitching, platform rotation and body movement control and above-mentioned each joint angles information, including large arm rotation The acquisition of the data such as the flexible distance of gyration, large arm pitch angle, forearm.
In the monitoring module, hydraulic proportion valve is its end effector mechanism, controls the ranging from 0-12V, 6V of voltage For middle position, the hydraulic motor stop motion of hydraulic proportion valve control at this time;When input voltage is more than 6V, control hydraulic motor is positive Rotation, and position voltage is more in input voltage deviation, motor rotation speed is faster, when input voltage is less than 6V, controls hydraulic pressure Motor reversely rotates, and position voltage is more in input voltage deviation, and motor rotation speed is faster;TRIO controllers are a kind of industry It with multi-axis motion controller, is connect with each joint hydraulic proportioning valve input port by controller IO delivery outlets, by controlling TRIO The output voltage of controller delivery outlet realizes the control of the direction of motion and movement velocity of robot hydraulic actuating mechanism.
In general mechanical arm control system, it is contemplated that the requirement of real-time, the general angle for using analog output Or displacement sensor and motion controller be by the way of wired electrical connection, but in high-voltage electromagnetic field environment of the present invention Under, it is contemplated that the safety of equipment operation, angular transducer use the absolute value encoder of RS485 buses output.Its harvester RS485 protocol datas are converted to Transmission Control Protocol data by serial server, and pass through HUB by the angle information in each joint of tool arm Wireless aps module is sent data to, and then realizes the real-time communication with remote control end industrial personal computer.
Platform information acquisition module is arranged on water flushing device people's hydraulic giant platform, is not deposited with vehicle-mounted monitoring intermodule In any electrical connection, WIFI communication is established with the wireless aps in main control module simply by wireless CLIENT and connect.Platform Information acquisition module acquires platform pitching, the platform inclination data that Absolute neutron flux obtains by serial server, and It is uploaded in the industrial personal computer of remote control module, is realized to which the real-time of sensor device information is adopted on hydraulic giant platform by WIFI network Collection.Using the design method, thus it is ensured that avoided at work since hydraulic giant platform distance high-voltage charging equipment is apart from close and make At equipment ground electric discharge failure, ensure robot operation safety.
Remote control module is mainly made of industrial personal computer, touch screen, remote-control handle and button etc., and industrial personal computer is water flushing device people The nucleus module of master control system, collects the sensor information of each information acquisition module acquisition, and the analyzing processing to information generates Robot control strategy realizes the control of mechanical arm and car body by the TRIO controllers in main control module.
In the control system, on the one hand, remote-control handle, touch screen and button are connect with industrial personal computer, can be by wireless WIFI issues mechanical arm control command to TRIO controllers, realizes the opened loop control of mechanical arm;On the other hand, industrial personal computer, TRIO The angular transducer of controller, hydraulic proportion valve and each axis forms closed-loop control system again, realizes the closed loop servo to mechanical arm Control, shown in the following Fig. 2-3 of control system block diagram.
Water flushing device proper manners machine of the present invention has been succeeded in developing.It has passed through 220KV grades in laboratory High pressure and measurement of electromagnetic environment, and tentative application smoothly has been obtained in 220KV experiments substation, tentative application shows The control system can meet the demand for control of living water washing robot of substation.
The present invention provides a kind of substation's living water washing robot control system and method, which is based on Internet of Things Technology and multi-sensor fusion technology build substation's living water washing robot control system and method, using the control system The high insulator water washing of 220kV substations livewire work frequency of completing that system can make Intelligent Mobile Robot replace people is appointed On the one hand business can mitigate the labor intensity of operating personnel, the power transformation of guarantee is on the other hand also provided for the safety of operating personnel It stands water flushing device people's wireless remote-control system.Machine vision technique is subsequently introduced into the system, utilizes image procossing, pattern-recognition Etc. functions, realize the automatic identification of flushing device, and the intelligent and autonomous of system is further increased using visual servo technology Property, with the continuous improvement of the performance of system, it is believed that system will have sizable application space.

Claims (7)

1. substation's living water washing robot control system, characterized in that including remote control module, vehicle-mounted monitoring module and platform Information acquisition module;Between the remote control module and vehicle-mounted monitoring module and vehicle-mounted monitoring module and platform information acquisition module it Between be all made of wireless device, build WIFI network, realize the data interaction of three intermodules;
Remote control module issues mechanical arm control command by wireless WIFI to TRIO controllers, realizes the opened loop control of mechanical arm; Industrial personal computer, TRIO controllers, hydraulic proportion valve and each axis angular transducer form closed-loop control system again, realize to mechanical arm Close loop servo control;
Mechanical arm is five degree-of-freedom manipulator, including large arm rotation, large arm pitching, forearm are flexible, wrist pitching and wrist revolution Five joints, each joint are all made of hydraulic driving mode, are controlled the opening direction of hydraulic proportion valve by control system and are open big It is small, realize accurately controlling for the hydraulic motor direction of motion and movement velocity;
The angle information in each joint of angular transducer collection machinery arm of the platform information acquisition module and vehicle-mounted monitoring module, RS485 protocol datas are converted into Transmission Control Protocol data by serial server, and wireless aps mould is sent data to by HUB Block, and then realize the real-time communication with remote control end industrial personal computer;
The platform information acquisition module is arranged on water flushing device people's hydraulic giant platform, and platform information acquisition module passes through nothing Line CLIENT establishes WIFI communication with the wireless aps in main control module and connect, and platform information acquisition module is adopted by serial server Collect platform pitching, the platform inclination data that Absolute neutron flux obtains, and remote control module is uploaded to by WIFI network In industrial personal computer, the real-time acquisition of sensor information on hydraulic giant platform is realized.
2. substation's living water washing robot control system as described in claim 1, characterized in that the remote control module packet It includes by industrial personal computer, touch screen, remote-control handle and button, in the controls, remote-control handle, touch screen and button are and industrial personal computer Connection.
3. substation's living water washing robot control system as described in claim 1, characterized in that the vehicle-mounted monitoring mould Block is arranged on water flushing device people's carrying platform, and hydraulic proportion valve is the end effector mechanism of vehicle-mounted monitoring module, control The ranging from 0-12V of voltage processed, 6V are middle position, and hydraulic proportion valve controls hydraulic motor stop motion at this time;When input voltage is big When 6V, control hydraulic motor rotates in the forward direction, and when input voltage is less than 6V, control hydraulic motor reversely rotates, and passes through TRIO Controller IO delivery outlets are connect with each joint hydraulic proportioning valve input port, by the output electricity for controlling TRIO controller delivery outlets Pressure realizes the control of the direction of motion and movement velocity of robot hydraulic actuating mechanism.
4. substation's living water washing robot control system as claimed in claim 3, characterized in that the vehicle-mounted monitoring mould Block is for realizing large arm rotation, large arm pitching, forearm are flexible, platform pitching, platform rotation and the control of body movement and each closes Save the acquisition of angle information.
5. substation's living water washing robot control system as described in claim 1, characterized in that the remote control module packet Industrial personal computer is included, the sensor information of industrial personal computer collecting platform information acquisition module acquisition realizes mechanical arm by TRIO controllers And the control of car body.
6. substation's living water washing robot control system as described in claim 1, characterized in that the wireless device is Wireless aps and wireless CLIENT equipment.
7. the control method of substation's living water washing robot control system as described in claim 1, characterized in that including Following steps:
The platform information acquisition module of robot master control system acquires Absolute neutron flux by serial server and obtains Platform pitching, platform inclination data, and be uploaded in the industrial personal computer of remote control module, realized on hydraulic giant platform by WIFI network The real-time acquisition of sensor information;
Industrial personal computer collects the sensor information of each information acquisition module acquisition, and the analyzing processing to information generates robot control Strategy realizes the control of mechanical arm and car body by the TRIO controllers in main control module;
Remote control module can issue mechanical arm control command by wireless WIFI to TRIO controllers, realize the open loop control of mechanical arm System;Industrial personal computer, TRIO controllers, hydraulic proportion valve and each axis angular transducer form closed-loop control system again, realize to machine The Close loop servo control of tool arm.
CN201410459319.0A 2014-09-10 2014-09-10 Substation's living water washing robot control system and method Active CN105045157B (en)

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