CN107962589B - Insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses - Google Patents

Insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses Download PDF

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Publication number
CN107962589B
CN107962589B CN201710432671.9A CN201710432671A CN107962589B CN 107962589 B CN107962589 B CN 107962589B CN 201710432671 A CN201710432671 A CN 201710432671A CN 107962589 B CN107962589 B CN 107962589B
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sensor
robot
water
substation equipment
water washing
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CN107962589A (en
Inventor
李超英
苏建军
李振杰
王彦良
许玮
慕世友
韩克存
李华东
陈晓红
李建祥
李健
王振利
陈强
张岩
赵金龙
许磊
刘宗杰
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State Grid Intelligent Technology Co Ltd
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State Grid Corp of China SGCC
Shandong Electric Power Research Institute
State Grid Intelligent Technology Co Ltd
Jining Power Supply Co of State Grid Shandong Electric Power Co
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075Means for protecting the manipulator from its environment or vice versa

Abstract

The invention discloses an insulation protection system of a transformer substation equipment live water washing robot based on multi-sensor fusion, which comprises a control system and a sensor group, wherein the sensor group is used for acquiring the inclination angle, the wind speed and the rotation and pitching angle of a water gun of the live transformer substation equipment live water washing robot, the control system is used for fusing the working parameters acquired by each sensor in the sensor group, calibrating an insulator, correcting the calibration result by combining the inclination angle of the robot, determining the position and the state of the live transformer substation equipment live water washing robot relative to the insulator, and performing height and displacement regulation control on the live transformer substation equipment live water washing robot, so that the robot can autonomously complete washing operation on the basis of ensuring insulation protection.

Description

Insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses
Technical Field
The invention relates to an insulation protection system of a transformer substation equipment live water washing robot based on multi-sensor fusion.
Background
Insulators in an electric power system running outdoors are exposed to the nature for a long time, particularly in industrial, coastal and saline-alkali soil areas, and generally form certain pollution accumulation on the surfaces of the insulators under the actions of industrial waste gas, seawater, natural saline alkali, dust and the like. The polluted insulator has large resistance of a pollution layer under the condition of dry weather, and has little danger to the operation of a power system. However, when the insulator is subjected to humid climatic conditions such as fog, overcast and rainy, a dirt layer on the surface of the insulator is wetted, the conductivity is increased, the insulating property is reduced, the leakage current is increased rapidly, the flashover voltage is greatly reduced, and at the moment, dirt flashover is likely to occur. Especially, when the creepage specific distance designed by the insulator is not enough or the adopted insulator can not meet the pollution requirement, pollution flashover inevitably occurs. Because the reclosing success rate after the pollution flashover tripping is very low, the pollution flashover of the insulator is easily developed into a large-area and long-time vicious power failure accident, so the harmfulness of the pollution flashover is very high, and the pollution flashover is a main hidden danger influencing the safe operation of power grid equipment.
At present, the live-line water washing robot for the substation equipment is often utilized to carry out cleaning work, but the live-line water washing robot for the substation equipment can only detect water resistivity and safety distance, the reference working parameters are not comprehensive, all collected information cannot be fused, and the insulation safety of the robot cannot be well guaranteed.
Disclosure of Invention
The invention provides an insulation protection system for a transformer substation equipment live water washing robot based on multi-sensor fusion, aiming at solving the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an insulating protection system of robot is washed in electrified water of substation equipment based on multisensor fuses, including control system and sensor group, sensor group gathers the electrified inclination of washing the robot in electrified substation equipment, the wind speed, the rotation and the every single move angle of squirt, control system fuses the working parameter that each sensor gathered in the sensor group, mark the insulator, combine the inclination of robot itself, revise the calibration result, confirm that electrified water of substation equipment washes the position and the state of robot for the insulator, carry out height and displacement regulation control to electrified water of substation equipment washing the robot, make the robot independently accomplish on the basis of guaranteeing insulating protection and wash the operation.
Specifically, the sensor group comprises a laser sensor, an inclination angle sensor, a water resistivity sensor, a wind speed sensor, an ultrasonic sensor, a rotation angle sensor, a pitching angle sensor and a linear displacement sensor, linear displacement sensor and inclination sensor are located electrified substation equipment and wash the robot bottom with water, laser sensor is located electrified substation equipment and washes on the robot with water, rotation angle sensor, every single move angle sensor is located the squirt, wind speed sensor is located electrified substation equipment and washes the robot top with water, pressure sensor is located the exit pressure department of water tank, water resistivity sensor is located the exit of water tank, ultrasonic sensor sets up in electrified substation equipment and washes the robot front end with water, electrified substation equipment is washed with water and still is provided with leakage current detector on the robot with water.
The control system comprises a main control system and an intelligent flushing system, wherein the main control system comprises an information acquisition module, a motion control module and a wireless remote control module; intelligence rinse-system includes laser positioning module, safety protection module and double-computer cooperation module, wherein:
the information acquisition module is configured to complete acquisition of signals of the sensor group, the motion control module is configured to complete motion control of the robot body, and the wireless remote control module is configured to assist wireless remote communication of the control system and the main control center to realize remote control;
the laser positioning module is configured to detect the position of the insulator so as to keep the insulation safety of the washing process, the safety protection module is configured to protect the safety of the control system, and the dual-machine cooperation module is configured to communicate with other auxiliary washing robots so as to perform cooperative work.
The sensor group further comprises a vision sensor and an image sensor, and the vision sensor and the image sensor are arranged at the upper end of the electrified water washing robot of the electrified substation equipment.
The master control system is also provided with an anti-interference module, and specifically comprises a JTAG module and a magnetic coupling isolation module.
The control system mainly uses laser sensor data, assists visual sensor data, utilizes the laser sensor to collect actual position information of an operation site, utilizes the information as main servo positioning data to drive the motion of two joints of the water gun, utilizes the data collected by the visual sensor as video display of remote control, fuses with the laser data, and realizes accurate servo positioning of the water gun joint as an auxiliary means of servo positioning.
Further, still include ultrasonic detection module, ultrasonic detection module is with setting up on the robot is washed in electrified transformer substation equipment electrified water for real-time detection electrified transformer substation equipment electrified water washes the barrier information of robot advancing direction and conveys to control system and correspondingly keeps away the barrier.
The utility model provides a transformer substation equipment electrified water washing robot method of doing based on multisensor fuses, gather electrified transformer substation equipment electrified water washing robot's inclination in real time, the wind speed, the rotation and the every single move angle of squirt, fuse the working parameter who gathers, mark the insulator, combine the inclination of robot itself, revise the calibration result, confirm electrified transformer substation equipment electrified water washing robot position and state relative to the insulator, electrified transformer substation equipment electrified water washing robot carries out height and displacement regulation control, make the robot independently accomplish one and wash two times or one and wash the operation of washing many times on the basis of guaranteeing the insulation protection.
The method comprises the following steps of performing double closed-loop control in the working process, detecting the change of the water resistivity of washing water in the washing process of the charged water washing robot of the charged substation equipment and the change of leakage current of the charged water washing robot body of the charged substation equipment in real time by an outer ring, obtaining the ideal working distance and the water spraying pressure information of the charged water washing robot of the charged substation equipment according to the received information and a preset expert database, and outputting the ideal working distance and the water spraying pressure information to the charged water washing robot of the charged substation equipment to control the working distance and the water spraying pressure; the expert database stores corresponding relations between water resistivity and leakage current and information of operation distance and water spray pressure respectively;
the inner ring realizes the closed-loop control of the working distance for detecting the working distance of the live-line water washing robot of the live-line substation equipment in real time, and simultaneously realizes the control of the water spray pressure by detecting the water spray pressure of the live-line water washing robot of the live-line substation equipment in real time, thereby ensuring the insulating property of the live-line water washing robot of the substation equipment.
The method for calibrating the insulator and adjusting the inclination angle of the robot body is characterized in that an ideal condition model is established on the assumption that an equipment area to be washed is an ideal environment, and the washing angle range of a water gun and the servo control quantity of a laser sensor in the horizontal direction and the vertical direction are determined; and reading the inclination angle of the robot in the actual operation environment and the change parameters of the position of the spray gun after the robot is inclined, and revising the pitching interval of the water gun after the robot is inclined.
Utilize laser sensor to gather the actual position information of job site insulator string, regard this information as main servo positioning data, utilize the data that vision sensor gathered, fuse with laser data, as servo positioning's auxiliary means, realize the accurate servo location of squirt joint, utilize inclination angle sensor real-time detection robot's inclination simultaneously, according to this angle information, revise servo positioning instruction, drive squirt motion aims insulator string.
Before a servo positioning instruction is obtained, the top height of the insulator is determined, the height of the laser sensor from the ground is determined, the distance between the laser sensor and the insulating support is determined, and the minimum flushing angle and the maximum flushing angle of the water gun are determined.
When the electrified water washing robot body of the substation equipment is inclined, the minimum washing angle and the maximum washing angle of the water gun are corrected by utilizing the inclination angle of the robot.
And for the inclined insulator, detecting displacement values in two directions of an X-axis direction and a Y-axis direction, and correcting to obtain a detection range of the water gun in the Y-axis direction and a flushing range of the water gun in the X-axis direction.
The effective angle area of the water gun is related to the installation angle of the laser sensor.
The horizontal servo control quantity of the water gun is the deviation between the direction angle of the insulator and the effective striking angle of the water gun under a laser measurement coordinate system.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts full-automatic real-time monitoring, can ensure that the electrified water washing robot of the substation equipment can correctly perform self-aiming according to self posture, distance and relative angle with the insulator string when cleaning the insulator string, further perform self-adjustment and realize automatic accurate washing;
(2) according to the control system for the electrified water washing robot of the substation equipment, the control mode of fan-width scanning of laser is adopted, so that the robot can be effectively subjected to offset aiming when the robot inclines on an uneven road surface;
(3) the invention integrates a plurality of sensing data such as wind speed, inclination of the robot body and the like, can comprehensively and specifically master the relative position and state of the robot and the insulator, can accurately wash the insulator and simultaneously ensures the insulation protection of the robot.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the process for determining the flushing range of the water gun for the vertical insulator according to the present invention;
FIG. 2 is a schematic diagram of correction of determination of a water gun washing range when the electrified water washing robot of the substation equipment inclines at any angle;
FIG. 3 is a schematic view of the process for determining the flushing range of the water gun when the inclined insulator is adopted;
FIG. 4 is a schematic view of the detection principle of the laser sensor of the present invention;
FIG. 5 is a control schematic of the present invention;
FIG. 6 is a schematic diagram of the system of the present invention;
FIG. 7 is a block diagram of the safety protection function of the present invention;
fig. 8 is a schematic view of a calculation flow when the robot body is tilted according to the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Term interpretation section: including custom terms, uncommon terms, terms requiring a clear interpretation, references to content, etc.
Just as the introduction of background art, there is electrified water washing robot of electrified substation equipment among the prior art and can only detect water resistivity, safe distance, and the working parameter of reference is not comprehensive, and each information of collection can't fuse inadequately, for solving above technical problem, this application has provided a substation equipment electrified water washing robot insulation protection system based on multisensor fuses.
In an exemplary embodiment of the present application, as shown in fig. 6, a transformer substation equipment live water washing robot insulation protection system based on multi-sensor fusion mainly includes: main controller, sensor, executor, remote controller, communication device, etc. Wherein, the sensor includes: the device comprises a laser sensor, an inclination angle sensor, a rotation angle sensor, a pitching angle sensor and a linear displacement sensor. The actuator includes: a robot walking actuator and a robot operation actuator; the robot operation executor includes: the robot walking actuator comprises a top rotating servo valve, a pitching servo valve and a linear displacement motor.
The main controller is positioned on a chassis at the front end of the robot and below the insulating arm; the linear displacement sensor and the inclination angle sensor are positioned at the front end of the robot, on a chassis below the insulating arm, the laser sensor is positioned on the insulating arm, the angle sensor is positioned on the two vertical degree-of-freedom actuators, the industrial camera is positioned above the water gun, the wind speed sensor is positioned above the insulating arm, the pressure sensor is positioned at the outlet pressure of the water tank, and the water resistivity sensor is positioned at the outlet of the water tank; the actuator is communicated with the controller through a terminal board positioned beside the controller, and the terminal board is communicated with the controller through a network cable; the proportional valve is positioned in front of the two vertical freedom degree actuators, the insulating arm lifting motor is positioned below the insulating arm, and the two walking servo motors are respectively arranged on the inner sides of the wheels.
According to system function module classification, the electrified water washing robot control system of substation equipment mainly includes electrified water washing robot master control system of substation equipment and the electrified water washing robot intelligence rinse-system of substation equipment, and wherein, master control system includes: the system comprises an information acquisition module, a motion control module and a wireless remote control module; the intelligent flushing system includes: the device comprises a laser positioning module, a safety protection module and a dual-computer cooperation module. The robot comprises a robot body, a wireless remote control module, a laser positioning module, a safety protection module and a dual-computer cooperation module, wherein the information acquisition module mainly acquires signals of each sensor, the motion control module mainly controls the motion of the robot body, the wireless remote control module mainly controls the robot in a wireless remote mode and a main controller in a wireless remote mode, the laser positioning module mainly detects the position of an insulator, the safety protection module mainly protects the safety of a control system, and the dual-computer cooperation module mainly completes the cooperative work of the main punching robot and an auxiliary punching robot.
The laser sensor and the inclination angle sensor are communicated with the industrial personal computer through a serial port communication module, and the rotation angle sensor, the pitch angle sensor and the linear displacement sensor are communicated with the industrial personal computer through an analog quantity signal acquisition module. The industrial personal computer controls each electromagnetic valve and each motor through a relay.
The master control system comprises an information acquisition module, a motion control module, a wireless remote control module and an anti-interference module, wherein the information acquisition module transmits acquired information to an industrial personal computer through optical fiber communication, the industrial personal computer receives and processes control signals and transmits the control signals to the motion control module through EtherCAT communication, an autonomous operating system developed based on an AD L INK MXE-201 industrial personal computer is communicated with the industrial personal computer through a socket M bridge and air MAX 0mni, the remote control of the motion and the operation of the robot is realized, in addition, the anti-interference module is designed for improving the stability of the system, and the detailed design of the system is shown as follows.
The robot information acquisition system is the basis that the robot washes the operation, and the timely effective basis of judging that can provide timely effectual for the controller of information acquisition appoints scientific and reasonable's control strategy. The information acquisition system of the robot comprises a robot operation information acquisition system and a system error information acquisition system. The robot operation information acquisition comprises robot body state information acquisition and operation object state information acquisition, and the system error information acquisition comprises interference information and environment state information acquisition.
The specific working principle of the information acquisition system is as follows: the sensor judges the motion state of the robot body and is used as a basis for controlling the motion of the robot. The laser sensor marks the insulator under the relatively ideal environment before washing the operation, and the operation begins the inclination angle of hypsokinesis oblique angle sensor detection robot body, and according to the real-time status that calibration result and laser sensor detected, the controller judges the position and the state of insulator, formulates reasonable water washing strategy. The robot carries out washing operation according to the strategy, the rotation angle sensor and the pitching angle sensor detect the rotation and pitching angles of the two-vertical-degree-of-freedom mechanism at the same time, the rotation and pitching angles serve as feedback basis of the washing position of the water gun, and the linear displacement sensor detects the state of the lifting device. Meanwhile, the wind speed sensor detects the wind speed, the controller judges the influence on the water column, the water gun state is compensated under the control of the water gun, the current sensor detects the current leakage condition in real time, and the controller formulates a reasonable power management strategy according to the situation.
The motion control system comprises a robot body motion control system and an operation module motion control system, wherein the robot body motion control system comprises two servo motors for controlling, and the robot operation module motion control system comprises four parts of water gun motion control, water gun pitching and rotating control, insulation support lifting control and operation module rotating control.
The water flushing operation system comprises three degrees of freedom including pitching and rotating of the water gun and lifting of the flushing device, and the three degrees of freedom are controlled by the motor. The whole machine shares one set of power supply system, when the fact that the water gun is in place is detected, the transformer substation equipment electrified water washing robot starts to carry out washing operation, and the washing operation is carried out in a one-time N-time washing mode according to the state of the insulator and the setting before the operation. When the whole set of washing operation is completed, the water gun quickly washes downwards and then returns to a specific safe area. In the operation process, if the operating system has a fault, the system can turn on an operating system abnormity alarm lamp to warn.
The chassis driving system is driven by a motor and is controlled by two motors together, and the control mode is semi-autonomous control. The controller realizes remote communication with the chassis driving system through a specific control medium by adopting a network bridge, and manually realizes remote control on the robot to finish the walking of a corresponding operation path. In the walking process, the normally-open warning lamp for the driving system can twinkle to show warning, and the illuminating lamp can be turned on to ensure the safe movement of the robot under the condition of darker light.
The power management module is an important judgment standard for normal work of the whole robot system, and the chassis driving system and the water flushing operation system share one set of power supply, so that the power supply system is monitored in real time. The system can detect indexes such as the residual capacity, the current value and the power supply temperature of the power supply. The power supply is ensured to be in a normal and full-power state, and the output current is ensured to be within a reasonable range.
The system state indicator light system is an external indicator mark for indicating whether the robot system works normally or not. The operating personnel can be warned by the corresponding warning lamp when the driving system and the operating system work, the system can be warned by the corresponding warning lamp when the system is abnormal, and the lighting lamp can be used for ensuring sufficient illumination in the operating environment when the light condition is not good.
The SOC part of the battery is obtained by integrating the current, and the SOC accuracy of the system is directly influenced by the detection precision of the current signal, so that the current conversion isolation amplifying unit is required to have higher precision, higher response speed, stronger anti-interference capability, better zero drift and temperature drift inhibition capability and higher linearity in a larger range. In addition, the robot works under different working states with different currents, the smaller the measurement range of the current sensor is, the higher the resolution precision is, and in consideration of the actual working condition of the robot and the requirement of SOC measurement precision, three ranges of current Hall sensors are selected, 0-30A, 0-100A, A and 0-600A are used for determining the adopted sensors by judging the current state of the storage battery, so that the calculation precision is improved.
The temperature of the battery is a critical parameter for judging whether the battery can be normally used, and if the temperature of the battery exceeds a certain value, the battery can be irrecoverably damaged. The temperature difference between the battery packs causes imbalance between the single batteries of the battery packs, so that the service life of the battery is reduced, and the temperature sampling unit in the system is completed through the bus digital temperature sensor.
Because the operation environment is a high-voltage transformer substation and has strong interference, the master control system needs to have strong anti-interference capability. The main controller adopts an industrial personal computer and communicates with the information acquisition terminal board through a network cable; the terminal boards are communicated in an EtherCAT mode, so that the accuracy and stability of signals are guaranteed. The signals that need gather in the operation process are more, so need the acquisition of multiple type signal acquisition terminal board to carry out the signal, and specific mode and principle analysis are as follows:
the magnetic coupling isolation module is divided into a primary driving circuit and a secondary driving circuit, wherein the primary driving circuit is composed of an InputS unit and a Drive unit, and the secondary driving circuit is mainly composed of a Receive unit. Wherein, the reset to input circuit is accomplished to the InputS unit, and Drive unit is used for producing the narrow pulse Drive signal relevant with input signal state change, and the function that Receive unit was accomplished is: after the reset signal comes, the receiving circuit resets the output to '0', and then the output is inverted once every time a pulse is received.
The intelligent level of the operation of the electrified water washing robot of the substation equipment is an important performance index of the practicability of the robot, and the design of a set of robot intelligent control system with reasonable structure, complete functions and convenient use is one of the main works of project research and development. The intelligent washing system for the electrified water washing robot of the transformer substation equipment is designed according to actual field requirements, and is divided into a man-machine interaction layer, a motion planning layer, a motion control layer and the like according to functional layers.
The motion control layer adopts an Ethecat bus technology, the EtherCAT technology has a microsecond bus cycle, and a control method which cannot be realized by a traditional field bus system can be realized. Thus, a super high speed control loop can also be formed by the bus. Functions that previously required local dedicated hardware support can now be mapped in software. The enormous bandwidth resources allow state data to be transmitted in parallel with any data. The Ether CAT technology has made communications technology compatible with modern high performance industrial PCs. The bus system is no longer the bottleneck of the control concept. Data transfer for distributed I/O exceeds performance that can only be achieved by local I/O interfaces.
The functional modules are divided into a laser servo module, a safety protection module, a double-machine cooperation module and the like, wherein the water gun servo module can realize servo control of two degrees of freedom of washing, pitching and swinging of a water gun of the robot, and the practicability of the robot system is effectively improved; the safety protection module mainly solves the safety protection function in the water washing operation process and ensures the safety of the water washing operation; the double-machine cooperation module can realize the cooperative control of double robots, simulate the function of manual double-gun operation and improve the effectiveness of water washing operation.
As shown in FIG. 1, the live-line water washing robot for the substation equipment works in a substation environment, and under the semi-structured and outdoor environment of a substation equipment area, the influence of outdoor light on image recognition is difficult to eliminate by adopting a single vision positioning method, so that the system designs a positioning servo method based on a laser sensor, the method is mainly based on laser sensor data, assisted by vision sensor data, installed in the middle of a robot, and installed behind a water gun, and utilizes the laser sensor to collect actual position information of a working site, and utilizes the information as main servo positioning data to drive the motion of two joints of the water gun.
The automatic washing method of the electrified water washing robot of the transformer substation equipment mainly comprises the steps of solving the problem of automatic washing of the electrified water washing robot of the transformer substation equipment, and mainly solving the problem of the range of washed insulators (and the angle range of a washing area of the washed insulators in a water gun coordinate system) and the servo control of a water gun in the washing process. Firstly, the laser sensor and the water gun are installed in parallel, the washing range of the water gun is mainly determined by the range in the vertical direction, and the adjustment amount in the horizontal direction can be solved through servo control in the washing process.
The water gun washing range is determined, as shown in fig. 2, for a vertical insulator, the environment in a substation equipment area is assumed to be an ideal condition, the ground is flat, the installation heights of similar equipment in different intervals are consistent and known, and in the process of operation, a washing water column is approximately a straight line, and a robot water gun platform is absolutely horizontal in installation and free of wind influence.
The height of the top of the insulator is H1, the height of the laser sensor mounting position from the ground is H3, the distance between the laser sensor and the insulating support is D, the minimum flushing angle of the water gun is theta 1, and the maximum flushing angle is theta 2.
The system defines the initial position of the water gun as a horizontal position (the horizontal position is the encoder 0 position of the joint of the water gun and is not necessarily a real horizontal position, the horizontal position can be corrected by using an inclination angle sensor subsequently, and the horizontal distance from the laser to the insulator can be measured when the water gun level is measured at the moment1,H2In the known case, the angle of the boundary of the flushing can be calculated)
Wherein H1,H2,H3For known variables, L is the muzzle distance from the insulator, α is the angle measured by the tilt sensor, D can be obtained by the laser rangefinder and tilt sensor, θ1,θ2For the unknown variables of the desired rinsing angle of the water gun, it can be derived from fig. 2:
θ1=arctan((H2-H3)/D)
θ2=arctan((H1-H3)/D)
wherein D-L- α
The range when the robot is tilted at any angle is determined:
because the road condition in the transformer substation equipment area is complicated, the ideal condition is difficult to reach, if the road is rugged, the installation position of the laser machine water gun platform is not in an absolute horizontal state, an inclination angle sensor is introduced into the system, the main effect of the inclination angle sensor is to detect the inclination angle of the robot in real time, and according to the angle information, various parameters of the robot system are corrected through calculation, so that the water washing operation under the actual environment is realized.
As shown in fig. 8, when the robot body is tilted by β degrees, the laser sensor is tilted by β degrees, and when the laser sensor is tilted, the reference coordinate origin is also tilted by β degrees as shown in the figure, and when the reference coordinate is tilted by β degrees, the reference coordinate origin is displaced in the X-axis and Y-axis directions by the following displacement values:
SX=H3*sinβ
SY=H3*cosβ。
from the above analysis:
as shown in fig. 3, it is necessary to detect displacement values in both the X-axis direction and the Y-axis direction for the tilt insulator.
Laser sensingThe detection range of the detector in the Y-axis direction is (theta)1,θ2) The detection range in the X-axis direction is (β)1,β2)。
The height of the top of the insulator is H1, the height of the bottom of the insulator is H2, the height of the installation position of the laser sensor from the ground is H3, the distance between the laser sensor and the insulating support is D, the minimum flushing angle of the water gun in the vertical direction is theta water, the maximum flushing angle is theta maximum, the minimum flushing angle of the water gun in the horizontal direction is β water, and the maximum flushing angle is β maximum.
The system defines the initial position of the water gun as a horizontal position (the horizontal position is the encoder 0 position of the joint of the water gun and is not necessarily a real horizontal position, the horizontal position can be corrected by using an inclination angle sensor subsequently, and the horizontal distance from the laser to the insulator can be measured when the water gun level is measured at the moment1,H2The boundary angle of the flush can be calculated in the known case);
wherein H1,H2,H3For known variables, L is the muzzle distance from the insulator, α is the angle measured by the tilt sensor, D can be obtained by the laser rangefinder and tilt sensor, θ1,θ2For the unknown variables of the desired rinsing angle of the water gun, it can be derived from fig. 3:
θ1=arctan((H2-H3)/D)
θ2=arctan((H1-H3)/D)
wherein D-L- α
β can be corrected by interpolation operation of controller according to theta value to align insulator step by step without need of measuring and calculating accurate value.
And calculating the inclination angle of the robot under the complex working condition, and analyzing the process of the robot perpendicular to the insulator.
Fig. 4 is a schematic view of a measuring plane of a laser sensor in a servo process, wherein a cylindrical object is a projection of an insulator in the measuring plane, a black area is an effective angle area struck by a water gun, the area is related to a mounting angle of the laser sensor, if the mounting angle is fixed, the area can be obtained through an experimental method, and a horizontal servo control quantity theta is a deviation between the insulator direction angle and the effective angle struck by the water gun under a laser measuring coordinate system. The washing angle of the water gun can be adjusted in real time according to data returned by the laser sensor in the washing process, and the water column is guaranteed to strike on the insulating support column constantly.
To sum up, utilize laser sensor to all seek easily at the servo control volume of horizontal direction and vertical direction, for this angle sensor who utilizes squirt horizontal axis and pitch axis to go up the installation combines laser sensor's data can constitute the squirt intelligence control system that transformer substation equipment electrified water washed robot, and its control schematic diagram is shown in fig. 5.
In the process of washing the robot by the charged water of the transformer substation equipment, the insulation safety is very important, the equipment safety of the robot for washing the charged water of the transformer substation equipment is influenced, and more importantly, the charged equipment of the transformer substation can be influenced, so that the safe operation of a power grid can be influenced. In-process is washed to transformer substation's water, the factor that causes the influence to insulating safety mainly includes: the control system is provided with a special safety protection function module for the purpose, and the control system mainly comprises a leakage current sensor, a water resistance rate sensor, a water pressure sensor, a flow sensor, a laser sensor and the like. The safety protection function module diagram is shown in fig. 7.
The safety protection module control subsystem is a double closed-loop control algorithm, the inner loop is an operating distance and pressure loop, and the outer loop is a water resistivity and leakage current loop. When the water resistivity of high-purity water changes or the leakage current of the robot body changes due to a certain reason, the online water resistivity detector and the leakage current detector detect the change, the water resistivity and the working distance which are established in advance through experiments and the expert system of the water spray pressure obtain the corresponding ideal working distance and the water spray pressure information, and therefore the high-purity water enters the inner ring system.
Double-machine cooperation module
When transformer substation equipment electrified water washed robot operation, if adopt single rifle operation mode, can't cover whole equipment a week, it piles up to form filthy at the side back of washing easily to reduce the insulating properties of equipment, can produce the pollution when serious and dodge the accident. Therefore, when artifical electrified water washing operation, generally adopt the double-gun operation mode, the double-gun is arranged respectively in the equipment both sides, makes the flushing water column can encircle whole flushing device cross-section to dirty emergence of dodging the accident when effectively preventing to wash. When the transformer substation equipment is in operation of washing the robot with hot water, a double-gun operation mode is also needed, so that the double-gun system cooperative control is realized, and the smooth completion of the washing operation is ensured. The double-machine cooperation module aims to research a double-gun cooperation control algorithm of the live water washing robot of the transformer substation equipment and achieve the functions.
The double-machine cooperation module is mainly added with a robot operation flow control function module on the basis of the live water washing robot control system of the substation equipment, the synchronization of double-machine robot control clocks is realized by utilizing an EthecAT bus technology, the control time period of the system is shortened by utilizing the real-time bus technology, the sampling frequency of a sensor acquisition system is improved, and the real-time property of sending control signals and the synchronization of double-gun control commands are ensured; the robot double-gun double-return and double-gun multi-return operation flows are converted into the control logic of the live-line water washing robot control system of the single substation equipment, the double-gun cooperative control of the live-line water washing robot of the substation equipment can be realized by using the module, the double-gun cooperation mode during manual operation is simulated, and the robot water washing operation can be carried out on the live-line equipment external insulation parts such as a substation pillar insulator, a lightning arrester and a live-line equipment sleeve under the condition of no power outage.
The essence of the dual-machine cooperation is that the two robots work cooperatively through the communication of the two control terminals. The double-machine cooperation requirement has high real-time performance, and the control cores of the main punching robot and the auxiliary punching robot in the project are double-fortune industrial personal computers, so that the real-time performance of double-machine work is realized through the communication of the two industrial computers at first. The communication of the two industrial personal computers is realized through TwinCAT OPC, and the data communication of the two industrial personal computers is realized through a TCP/IP protocol. In the control process, the real-time performance of the two machines is adjusted through adjusting the parameters.
The operation process requires: the main washing robot finishes main washing operation, the auxiliary washing robot finishes following operation, the auxiliary washing robot is located 30cm below the main washing robot and mainly functions in cutting off water flow generated by the main washing robot in washing operation, and therefore the purpose of insulation is achieved. During the flushing operation, the mode selection of insulator flushing, namely one flushing or more flushing, exists. During cooperative operation, the problem of error handling can be solved through two schemes of speed regulation and time delay.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (8)

1. The utility model provides an insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses, characterized by: the intelligent washing robot comprises a control system and a sensor group, wherein the sensor group acquires the inclination angle, the wind speed and the rotation and pitch angle of a water gun of the electrified water washing robot of the electrified substation equipment, the control system integrates the working parameters acquired by each sensor in the sensor group to calibrate the insulator, a laser sensor calibrates the insulator in an ideal environment before washing operation, an inclination angle sensor which tilts backwards at the beginning of the operation detects the inclination angle of a robot body, and a controller judges the position and the state of the insulator according to the calibration result and the real-time state detected by the laser sensor and formulates a reasonable water washing strategy; meanwhile, a rotation angle sensor and a pitching angle sensor detect the rotation and pitching angles of the two-vertical-degree-of-freedom mechanism, the rotation and pitching angles serve as feedback basis of the flushing position of the water gun, and a linear displacement sensor detects the state of the lifting device; meanwhile, the wind speed sensor detects the condition of wind speed, the controller judges the influence on a water column, compensates the state of the water gun in the control of the water gun, corrects the calibration result by combining the inclination angle of the robot, determines the position and the state of the charged water washing robot of the charged substation equipment relative to the insulator, and performs height and displacement regulation control on the charged water washing robot of the charged substation equipment, so that the robot autonomously completes washing operation on the basis of ensuring insulation protection;
the control system mainly uses laser sensor data, assists visual sensor data, utilizes the laser sensor to collect actual position information of an operation site, utilizes the information as main servo positioning data to drive the motion of two joints of the water gun, utilizes the data collected by the visual sensor as video display of remote control, fuses with the laser data, and realizes accurate servo positioning of the water gun joint as an auxiliary means of servo positioning.
2. The insulation protection system of the electrified water washing robot of the substation equipment based on the multi-sensor fusion is characterized in that: the sensor group comprises a laser sensor, an inclination angle sensor, a water resistivity sensor, a wind speed sensor, an ultrasonic sensor, a rotation angle sensor, a pitching angle sensor and a linear displacement sensor, linear displacement sensor and inclination sensor are located electrified water washing robot bottom of substation equipment of electrification, laser sensor is located electrified water washing robot of substation equipment, rotation angle sensor, every single move angle sensor is located the squirt, wind speed sensor is located electrified water washing robot top of substation equipment of electrification, pressure sensor is located the exit pressure department of water tank, water resistivity sensor is located the exit of water tank, ultrasonic sensor sets up in electrified water washing robot front end of substation equipment of electrification, electrified water washing robot of substation equipment is last still to be provided with and reveals the current detection appearance.
3. The insulation protection system of the electrified water washing robot of the substation equipment based on the multi-sensor fusion is characterized in that: the control system comprises a main control system and an intelligent flushing system, wherein the main control system comprises an information acquisition module, a motion control module and a wireless remote control module; intelligence rinse-system includes laser positioning module, safety protection module and double-computer cooperation module, wherein:
the information acquisition module is configured to complete acquisition of signals of the sensor group, the motion control module is configured to complete motion control of the robot body, and the wireless remote control module is configured to assist wireless remote communication of the control system and the main control center to realize remote control;
the laser positioning module is configured to detect the position of the insulator so as to keep the insulation safety of the washing process, the safety protection module is configured to protect the safety of the control system, and the dual-machine cooperation module is configured to communicate with other auxiliary washing robots so as to perform cooperative work.
4. The insulation protection system of the electrified water washing robot of the substation equipment based on the multi-sensor fusion is characterized in that: the sensor group further comprises a vision sensor and an image sensor, and the vision sensor and the image sensor are arranged at the upper end of the electrified water washing robot of the electrified substation equipment.
5. The insulation protection system of the electrified water washing robot of the substation equipment based on the multi-sensor fusion is characterized in that: still include ultrasonic detection module, ultrasonic detection module is with setting up on the robot is washed in electrified substation equipment electrified water for real-time detection electrified substation equipment electrified water washes the barrier information of robot advancing direction and conveys to control system and correspondingly keeps away the barrier.
6. A working method of a transformer substation equipment live water washing robot based on multi-sensor fusion is characterized by comprising the following steps: the method comprises the steps of collecting the inclination angle, the wind speed and the rotation and pitching angle of a water gun of the charged transformer substation equipment charged water washing robot in real time, fusing collected working parameters, calibrating an insulator, correcting a calibration result by combining the inclination angle of the robot, determining the position and the state of the charged transformer substation equipment charged water washing robot relative to the insulator, and performing height and displacement regulation control on the charged transformer substation equipment charged water washing robot, so that the robot autonomously finishes washing operation on the basis of ensuring insulation protection;
the method for calibrating the insulator and adjusting the inclination angle of the robot body is characterized in that an ideal condition model is established on the assumption that an equipment area to be washed is an ideal environment, and the washing angle range of a water gun and the servo control quantity of a laser sensor in the horizontal direction and the vertical direction are determined; and reading the inclination angle of the robot in the actual operation environment and the change parameters of the position of the spray gun after the robot is inclined, and revising the pitching interval of the water gun after the robot is inclined.
7. The working method of the transformer substation equipment electrified water washing robot based on the multi-sensor fusion as claimed in claim 6, is characterized in that: the method comprises the following steps of performing double closed-loop control in the working process, detecting the change of the water resistivity of washing water in the washing process of the charged water washing robot of the charged substation equipment and the change of leakage current of the charged water washing robot body of the charged substation equipment in real time by an outer ring, obtaining the ideal working distance and the water spraying pressure information of the charged water washing robot of the charged substation equipment according to the received information and a preset expert database, and outputting the ideal working distance and the water spraying pressure information to the charged water washing robot of the charged substation equipment to control the working distance and the water spraying pressure; the expert database stores corresponding relations between water resistivity and leakage current and information of operation distance and water spray pressure respectively;
the inner ring realizes the closed-loop control of the working distance for detecting the working distance of the live-line water washing robot of the live-line substation equipment in real time, and simultaneously realizes the control of the water spray pressure by detecting the water spray pressure of the live-line water washing robot of the live-line substation equipment in real time, thereby ensuring the insulating property of the live-line water washing robot of the substation equipment.
8. The working method of the transformer substation equipment electrified water washing robot based on the multi-sensor fusion as claimed in claim 6, is characterized in that: utilize laser sensor to gather the actual position information of job site insulator string, regard this information as main servo positioning data, utilize the data that vision sensor gathered, fuse with laser data, as servo positioning's auxiliary means, realize the accurate servo location of squirt joint, utilize inclination angle sensor real-time detection robot's inclination simultaneously, according to this angle information, revise servo positioning instruction, drive squirt motion aims insulator string.
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