CN108551116B - Driving force control system and method for magnetic robot of high-voltage direct-current transmission line - Google Patents
Driving force control system and method for magnetic robot of high-voltage direct-current transmission line Download PDFInfo
- Publication number
- CN108551116B CN108551116B CN201810352136.7A CN201810352136A CN108551116B CN 108551116 B CN108551116 B CN 108551116B CN 201810352136 A CN201810352136 A CN 201810352136A CN 108551116 B CN108551116 B CN 108551116B
- Authority
- CN
- China
- Prior art keywords
- robot
- current
- transmission line
- long side
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control system and a control method for a magnetic robot driving force of a high-voltage direct-current transmission line, wherein the control system comprises: the current sensor is used for detecting the current of a driving coil in the obstacle avoidance arm; the inclination angle sensor is used for detecting the inclination angle of the robot relative to the horizontal plane; the acceleration sensor is used for detecting the acceleration of the robot along the direction of the high-voltage transmission line; and the controller regulates and controls the current in the driving coil based on the detection of the current sensor, the inclination angle sensor and the acceleration sensor, and further controls the driving force of the robot to move according to a preset state. The magnetic force driving robot can stably pass through various barriers encountered on the power transmission line, and when the gradient of the high-voltage power transmission line changes, the size and the direction of the driving force of the magnetic force driving robot can be controlled, and the control requirements of acceleration, deceleration and uniform motion of the magnetic force driving robot are automatically met.
Description
Technical Field
The invention relates to the technical field of inspection robots for high-voltage transmission lines, in particular to a driving force control system and a driving force control method for a magnetic robot for a high-voltage direct-current transmission line.
Background
At present, a high-voltage transmission line inspection robot becomes a hot point of domestic and foreign research, a wheel-arm combined type mechanism is mostly adopted in a traditional line inspection robot, the appearance size is large, the robot body is heavy, the problems of friction, slipping and the like exist due to the fact that a pulley of the wheel-arm type robot is in direct contact with a high-voltage line, and the working efficiency of the line inspection robot is reduced. The Xuzhou jin et al of Hubei university of industry proposes a magnetic suspension type magnetic drive robot scheme, utilizes the magnetic field that produces around the high-voltage line to realize magnetic drive, and this kind of scheme has reduced the overall dimension of robot, has simplified the structure to the problem such as friction and skid has been eliminated completely. The invention relates to a magnetic force driving robot in the scheme, which enables the robot to adapt to the gradient change of a high-voltage wire by controlling the current of a driving coil of the robot, and can stably cross various obstacle structures, thereby improving the automation degree of the robot.
Disclosure of Invention
An object of an aspect of the present disclosure is to provide a driving force control system for a magnetic robot of a high voltage direct current transmission line, including: the current sensor is used for detecting the current of a driving coil in the obstacle avoidance arm; the inclination angle sensor is used for detecting the inclination angle of the robot and the horizontal plane; the acceleration sensor is used for detecting the acceleration of the robot along the direction of the high-voltage transmission line; and the controller regulates and controls the current in the driving coil based on the detection of the current sensor, the inclination angle sensor and the acceleration sensor, and further controls the driving force of the robot to move according to a preset state.
In the above-mentioned high-voltage direct-current transmission line magnetic force robot driving force control system, in a non-obstacle-crossing motion state, when the robot moves at a uniform speed, the controller adjusts the current of the driving coil to:
formula (1), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Indicating the magnetic field strength at the inactive long side of the drive coil, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
In the above-mentioned driving force control system for the magnetic robot for the high-voltage direct-current transmission line, when the robot moves at a variable speed in a non-obstacle-crossing movement state, the controller adjusts the current of the driving coil to:
formula (2), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Indicating the strength of the magnetic field at the inactive long side of the drive coilDegree, m is the mass of the robot, a the acceleration of the robot in the direction of the high voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
In the above-mentioned high-voltage direct-current transmission line magnetic force robot driving force control system, in the obstacle crossing motion state, the controller adjusts the current of the driving coil to:
formula (3), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Showing the magnetic field strength at the invalid long side of the drive coil, m is the mass of the robot, a is the acceleration of the robot in the direction of the high-voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2The lengths of the effective long edge and the ineffective long edge of the driving coil are shown, n is the number of obstacle avoidance arms of the robot, and i is the number of obstacle avoidance arms in obstacle crossing motion.
Another aspect of the present disclosure is to provide a method for controlling a driving force of a magnetic robot in a high voltage direct current transmission line, including: the inclination angle sensor detects the inclination angle of the robot relative to the horizontal plane; the acceleration sensor detects the acceleration of the robot along the direction of the high-voltage transmission line; the current sensor detects the current of a driving coil in the obstacle avoidance arm; and regulating and controlling the current in the driving coil based on the detection of the current sensor, the inclination angle sensor and the acceleration sensor, and further controlling the driving force of the robot to move according to a preset state.
In the method for controlling the driving force of the high-voltage direct-current transmission line magnetic robot, when the robot moves at a constant speed in a non-obstacle-crossing motion state, the current of the driving coil is adjusted to be as follows:
formula (4), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Indicating the magnetic field strength at the inactive long side of the drive coil, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
In the method for controlling the driving force of the high-voltage direct-current transmission line magnetic robot, when the robot moves in a variable speed manner in a non-obstacle-crossing movement state, the current of the driving coil is adjusted to be as follows:
formula (5), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Showing the magnetic field strength at the invalid long side of the drive coil, m is the mass of the robot, a is the acceleration of the robot in the direction of the high-voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
In the driving force control method for the high-voltage direct-current transmission line magnetic robot, in the obstacle crossing motion state, the current of the driving coil is adjusted to be as follows:
formula (6), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Showing the magnetic field strength at the invalid long side of the drive coil, m is the mass of the robot, a is the acceleration of the robot in the direction of the high-voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating active long sides and inactive of drive coilThe length of the long edge, n is the number of the obstacle avoidance arms of the robot, and i is the number of the obstacle avoidance arms in obstacle crossing motion.
This is disclosed to have guaranteed that magnetic force driven robot can be stably through the various barriers that meet on the transmission line, because high tension transmission line is the catenary configuration under the action of gravity, when high tension transmission line's the slope changes, size and the direction of steerable magnetic force robot drive power independently accomplish the control demand that magnetic force driven robot accelerates, slows down and uniform motion.
Drawings
Fig. 1 is a schematic structural view of a magnetic robot for a high-voltage direct-current power transmission line according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural view of an obstacle avoidance arm according to an embodiment of the present disclosure after being opened.
Fig. 3 is a diagram of analysis of driving force of a magnetic robot on a power line according to an embodiment of the present disclosure.
Fig. 4 is an overall force analysis diagram of a magnetic robot according to an embodiment of the present disclosure.
FIG. 5 is a block diagram of a control system according to one embodiment of the present disclosure.
Fig. 6 is a circuit diagram of controlling current in a drive coil according to one embodiment of the present disclosure.
Fig. 7 is a flow chart of magnetic force robot drive force control according to one embodiment of the present disclosure.
Fig. 8 is a force analysis diagram of the magnetic robot when the first obstacle avoidance arm is opened according to an embodiment of the present disclosure.
Fig. 9 is a force analysis diagram of the magnetic robot when the second obstacle avoidance arm is opened according to an embodiment of the present disclosure.
Fig. 10 is a force analysis diagram of the magnetic robot when the third obstacle avoidance arm is opened according to an embodiment of the present disclosure.
In the figure: the method comprises the following steps of 1-high-voltage transmission line, 2-robot bottom support, 3-barrier arm middle driving coil, 4-high-voltage transmission line protective sleeve, 5-controller, 6-current sensor, 7-tilt angle sensor, 8-acceleration sensor, 9-direct current power supply, 10-first obstacle avoidance arm, 11-second obstacle avoidance arm and 12-third obstacle avoidance arm.
Detailed Description
The present disclosure is described in further detail below with reference to the attached drawings and the detailed description.
This openly mainly controls the electric current of drive coil among the magnetic levitation formula magnetic force drive robot, and then realizes the control to drive power, makes the robot adapt to the high-voltage line slope change to can stably cross various obstacle structures, improve the degree of automation of robot.
The driving force of the magnetic force driving robot for the overhead high-voltage transmission line is provided by ampere force, the driving force can be known according to an ampere force formula F which is BIL, when a lead which is electrified with current passes through a magnetic field area, the electrified lead can be acted by the ampere force, the direction of the ampere force is judged by a left-hand rule, namely, a left hand is stretched, a thumb is perpendicular to other four fingers and in the same plane, a magnetic induction line flows in from the palm, the four fingers point to the direction of the current, the direction of the thumb is the direction of the ampere force, and a calculation formula of the ampere force is F which is BIL, wherein B is the magnetic field intensity of the magnetic field area, I represents the current magnitude of the electrified lead, and L represents the length of the electrified lead in. And obtaining the direction of a magnetic field generated around the high-voltage power transmission line according to the right-hand spiral rule, namely, holding the high-voltage power transmission line by using the right hand, pointing the thumb of the right hand to the direction of current in the high-voltage power transmission line, wherein the directions of the four fingers are the directions of the magnetic field, a magnetic field area is generated around the high-voltage power transmission line and is defined in a plane, the direction of the magnetic field is vertical to the plane and is outwards represented by ". cndot", and the direction of the magnetic field is vertical to the plane.
The structure of the driving coil and the installation mode of the driving coil on the driving tile of the obstacle avoidance arm can be referred to patent application of publication number CN103595300A entitled "a magnetic driving robot for overhead high-voltage transmission line operation". Fig. 3 is a driving force analysis diagram of the magnetically driven robot on the high-voltage direct-current power transmission line, wherein in the driving force analysis along the tangent direction of the power transmission line, the upper part of the power transmission line is provided with a c coil, and four edges are ca, cb, cc and cd respectively according to the counterclockwise direction; the lower part of the power transmission line is provided with a d coil, and four sides of the d coil are da, db and dc respectively according to the clockwise directionDd. The cd and dd edges are in a strongly magnetically conducting environment as the active long edges. The cb and db sides are in a weakly magnetically conducting environment as the inactive long sides. According to the definition of ampere force, the ampere forces applied to the ca side and the cc side, and the da side and the dc side are equal in magnitude and opposite in direction, the forces are counteracted, and the ampere forces applied to the cd side and the dd side are respectively greater than those applied to the cb side and the db side, namely F3＞F4. In addition, by changing the direction of the current in the coil, the driving force direction can be changed.
Assuming that the robot moves to the right, when the magnetic robot is in a horizontal position, the driving force F of the robot is equal to Fc-Fd-FwIn which F iscIs the resultant of the right-hand Ampere forces, FdIs the resultant force of left ampere force, F is the driving force of the robot in the horizontal direction, FwThe robot can be subjected to air resistance (F) in the process of travelingw＝ρCDAv2/2，CDIs the air resistance coefficient, a is the windward area of the robot end face, ρ is the air density). When the robot is inclined at an angle θ with respect to the horizontal plane, the overall force applied to the robot is as shown in fig. 4, and the resultant force applied to the magnetic robot along the high-voltage line 1 is F ═ Fc-Fd-FwGsin θ, from Ampere force equation
Wherein B is3Representing the magnetic field strength at the effective long side of the drive coil, B4Indicating the magnetic field strength at the inactive long side of the drive coil, I2Expressed as the drive current, i.e. the current of the drive coils c, d, L2The lengths of the drive coil long sides (the effective long side and the ineffective long side), that is, the lengths of the cd side, the dd side, the cb side, and the db side in fig. 5 are shown, and the resultant force of the robot in the advancing direction of the high-voltage wire 1 is represented by F ═ B (B) by substituting the above equation3-B4)I2L2-Fw-Gsinθ。
The motion of the robot is divided into uniform motion and variable motion.
When the robot does uniform motion, the stress of the robot is balanced, the resultant force F in the advancing direction is 0, and the coils c and d are in the same shapeCurrent I2The relation with the inclination angle theta is
When the robot does variable speed motion, according to Newton's second law, F ═ ma, wherein F is the resultant force of the robot in the direction of extending high voltage line, m is the mass of the robot, a is the acceleration of the robot along the tangential direction of the line, and the current I in the coils c and d2The relationship between the inclination angle theta and the acceleration a is
When the robot moves ahead along the high-voltage line and meets the barrier, keep away the barrier arm and open in proper order, cross the barrier after, keep away the barrier arm and close once more, keep away the direct current of the drive coil in the barrier arm and will break off when keeping away the barrier arm and open, open this moment keeps away the interior coil of barrier arm and can not receive the effect of ampere force again. The opening and closing mode of the obstacle avoidance arm can adopt the prior art, for example, refer to the patent application with the publication number of CN106505463A, namely the high-voltage direct-current magnetic suspension inspection robot obstacle avoidance device. The robot is provided with n obstacle avoidance arms, and the driving force provided by each obstacle avoidance arm is FCThe current in the drive coil is ICAssuming that i obstacle avoidance arms are opened to cross the obstacle, and the driving force provided by each closed obstacle avoidance arm is FDThe current in the drive coil is IDTo keep the driving force applied to the robot as a whole constant, nF should be satisfiedC＝(n-i)FD，
According to the ampere force formula, the ampere force borne by the coil is in direct proportion to the current, and the change relation of the current in the coil is
Based on the analysis of the driving force, the driving force control system of the high-voltage direct-current power transmission line magnetic robot comprises a controller 5, a current sensor 6, an inclination angle sensor 7, an acceleration sensor 8 and a direct-current power supply 9, wherein the components can be installed on a robot bottom bracket 2 shown in fig. 1, and the block diagram of the control system can be seen in fig. 5.
And the current sensor 6 detects the current of the driving coil 3 in the robot obstacle avoidance arm. Since the robot generally has a plurality of obstacle avoidance arms, and the current control of the driving coil 3 in each obstacle avoidance arm is relatively independent, each driving coil 3 has a current sensor. As shown in fig. 1, the magnetic robot has three obstacle avoidance arms, and therefore three current sensors 6, which are a current sensor a, a current sensor B, and a current sensor C, are provided in the driving force control system.
The tilt sensor 7 detects the tilt angle θ of the robot with respect to the horizontal plane.
The acceleration sensor 8 detects an acceleration a of the robot in the direction of the high-voltage power transmission line (tangential direction).
The dc power supply 9 is used to supply power to the driving coil 3 and other dc devices.
The controller 5 controls the current in the driving coil 3 by adjusting the degree of opening and closing of the transistors in the current control circuit shown in fig. 6 based on the detection of the current sensor 6, the tilt sensor 7, and the acceleration sensor 8, thereby controlling the driving force of the robot to move in a predetermined state. The current adjusting formulas of the robot are different under different motion states. The robot comprises two motion states of obstacle crossing and obstacle non-crossing, and the current regulation formula of the driving coil 3 during obstacle crossing is as follows
The non-obstacle-crossing motion is divided into uniform motion and variable motion, and the current adjustment formula of the driving coil 3 in the uniform motion isThe current regulation formula of the driving coil 3 in the variable-speed motion is
A driving force control method for a magnetic robot of a high-voltage direct-current transmission line comprises the following steps: the inclination angle sensor 7 detects the inclination angle theta of the robot relative to the horizontal plane; the acceleration sensor 8 detects the acceleration a of the robot along the direction of the high-voltage transmission line; the current sensor 6 detects the current of the driving coil 3 in the obstacle avoidance arm; based on the detection of the current sensor 6, the tilt sensor 7, and the acceleration sensor 8, the controller 5 controls the current in the driving coil 3 by adjusting the degree of opening and closing of the transistors in the current control circuit shown in fig. 6, thereby controlling the driving force of the robot to move in a predetermined state. This control process can be seen in the embodiment shown in fig. 7. The formula for adjusting the current of the robot in different motion states can be referred to in the above embodiment of the driving force control system.
The control of the driving force during obstacle crossing will be described in detail below, taking as an example a magnetic robot having three obstacle avoidance arms as shown in fig. 1.
(1) Firstly, when the first obstacle avoidance arm 10 gets over an obstacle, the first obstacle avoidance arm 10 is opened, the second obstacle avoidance arm 11 and the third obstacle avoidance arm 12 are closed, and at the moment, the current I of the driving coil 3 in the first obstacle avoidance arm 10 isA1Driving force F equal to 0A1When the driving force provided by the second obstacle avoidance arm 11 and the third obstacle avoidance arm 12 is equal to 0, as shown in fig. 8, in order to ensure that the driving force applied to the robot as a whole is not changed, it should be satisfied that
Wherein, FB1Driving force, F, provided for the second obstacle avoidance arm 11C1Driving force, F, for the third obstacle avoidance arm 12wThe acceleration is the air resistance suffered by the robot in the process of traveling, G is the gravity of the robot, and a is the acceleration of the magnetic force robot along the tangent direction of the power transmission line. The ampere force formula shows that the ampere force borne by the electrified coil is in direct proportion to the electrified current, and the relation between the current in the coils c and d and the inclination angle theta and the acceleration a is
Wherein, IB1For the current of the drive coil 3 in the second obstacle avoidance arm 11, IC1For driving coils in the third obstacle avoidance arm 123, in the first step.
(2) When the first obstacle avoidance arm 10 passes over the obstacle, the first obstacle avoidance arm 10 is closed again, the second obstacle avoidance arm 11 starts to cross the obstacle, the second obstacle avoidance arm 11 is opened, the third obstacle avoidance arm 12 is closed, and at the moment, the current I of the driving coil 3 in the second obstacle avoidance arm 11 isB2Driving force F equal to 0B2When the driving force provided by the first obstacle avoidance arm 10 and the driving force provided by the third obstacle avoidance arm 12 are equal to 0, as shown in fig. 9, in order to ensure that the driving force applied to the robot as a whole is not changed, it should be satisfied that
Wherein, FA2Driving force, F, provided for the first obstacle avoidance arm 10C2The driving force provided to the third obstacle avoidance arm 12, the relationship between the current in the coils c, d and the inclination angle theta and the acceleration a is
Wherein, IA2For the current of the driving coil 3 in the first obstacle avoidance arm 10, IC2Is the current of the driving coil 3 in the third obstacle avoidance arm 12.
(3) When the second obstacle avoidance arm 11 passes over the obstacle, the second obstacle avoidance arm 11 is closed again, and when the third obstacle avoidance arm 12 starts to pass over the obstacle, the third obstacle avoidance arm 12 is opened, the first obstacle avoidance arm 10 is closed, and at this time, the current I of the driving coil 3 in the third obstacle avoidance arm 12 isC3Driving force F equal to 0C3When the driving force provided by the first obstacle avoidance arm 10 and the driving force provided by the second obstacle avoidance arm 11 are equal to 0, as shown in fig. 10, in order to ensure that the driving force applied to the whole robot is not changed, the requirement of maintaining the driving force applied to the whole robot should be met
Wherein, FA3Driving force, F, provided for the first obstacle avoidance arm 10B3The driving force provided for the second obstacle avoidance arm 11, the relationship between the current in the coils c, d and the inclination angle theta and the acceleration a isWherein, IA3For the current of the driving coil 3 in the first obstacle avoidance arm 10, IB3For driving in the second obstacle-avoiding arm 11The current of the moving coil 3.
When the third obstacle avoidance arm 12 crosses the obstacle, it is closed again, and at this time, the robot completes the obstacle avoidance action, and the three obstacle avoidance arms are all in a closed state.
Claims (6)
1. A high-voltage direct-current transmission line magnetic robot driving force control system is characterized by comprising:
the current sensor is used for detecting the current of a driving coil in the obstacle avoidance arm;
the inclination angle sensor is used for detecting the inclination angle of the robot and the horizontal plane;
the acceleration sensor is used for detecting the acceleration of the robot along the direction of the high-voltage transmission line;
the controller regulates and controls the current in the driving coil based on the detection of the current sensor, the inclination angle sensor and the acceleration sensor, and further controls the driving force of the robot to enable the robot to move according to a preset state;
wherein, in the obstacle crossing motion state, the controller adjusts the current of the driving coil to:
formula (1), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Representing the magnetic field strength at the invalid long side of the drive coil, m being the mass of the robot, a acceleration of the robot in the direction of the high voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2And the lengths of the effective long edge and the ineffective long edge of the driving coil are shown, n is the number of obstacle avoidance arms of the robot, and i is the number of obstacle avoidance arms in obstacle crossing motion.
2. The driving force control system for the magnetic robot of the high-voltage direct-current transmission line according to claim 1, wherein when the robot moves at a constant speed in a non-obstacle-crossing motion state, the controller adjusts the current of the driving coil to:
formula (2), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Indicating the magnetic field strength at the inactive long side of the drive coil, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
3. The system for controlling the driving force of the magnetic robot on the high-voltage direct-current power transmission line according to claim 1, wherein the controller adjusts the current of the driving coil to be:
formula (3), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Showing the magnetic field strength at the invalid long side of the drive coil, m is the mass of the robot, a is the acceleration of the robot in the direction of the high-voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
4. A driving force control method for a magnetic robot of a high-voltage direct-current transmission line is characterized by comprising the following steps:
the inclination angle sensor detects the inclination angle of the robot relative to the horizontal plane;
the acceleration sensor detects the acceleration of the robot along the direction of the high-voltage transmission line;
the current sensor detects the current of a driving coil in the obstacle avoidance arm;
based on the detection of the current sensor, the inclination angle sensor and the acceleration sensor, the current in the driving coil is regulated and controlled, and further the driving force of the robot is controlled to move according to a preset state;
wherein, in the obstacle crossing motion state, the current of the driving coil is adjusted to:
formula (4), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Showing the magnetic field strength at the invalid long side of the drive coil, m is the mass of the robot, a is the acceleration of the robot in the direction of the high-voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2The lengths of the effective long edge and the ineffective long edge of the driving coil are shown, n is the number of obstacle avoidance arms of the robot, and i is the number of obstacle avoidance arms in obstacle crossing motion.
5. The driving force control method for the magnetic robot of the high-voltage direct-current transmission line according to claim 4, wherein in the non-obstacle-crossing motion state, when the robot moves at a constant speed, the current of the driving coil is adjusted to:
formula (5), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Indicating the magnetic field strength at the inactive long side of the drive coil, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
6. The method for controlling the driving force of the magnetic robot on the high-voltage direct-current power transmission line according to claim 4, wherein the current of the driving coil is adjusted to be as follows when the robot moves in a variable speed manner in a non-obstacle crossing state:
formula (6), B3Representing the magnetic field strength at the effective long side of the drive coil, B4Showing the magnetic field strength at the invalid long side of the drive coil, m is the mass of the robot, a is the acceleration of the robot in the direction of the high-voltage transmission line, FwThe robot can be subjected to air resistance in the process of traveling, G is the gravity of the robot, theta is the inclination angle of the robot relative to a plane, and L2Indicating the length of the active long side and the inactive long side of the drive coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810352136.7A CN108551116B (en) | 2018-04-19 | 2018-04-19 | Driving force control system and method for magnetic robot of high-voltage direct-current transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810352136.7A CN108551116B (en) | 2018-04-19 | 2018-04-19 | Driving force control system and method for magnetic robot of high-voltage direct-current transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108551116A CN108551116A (en) | 2018-09-18 |
| CN108551116B true CN108551116B (en) | 2020-01-07 |
Family
ID=63515528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810352136.7A Active CN108551116B (en) | 2018-04-19 | 2018-04-19 | Driving force control system and method for magnetic robot of high-voltage direct-current transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108551116B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085981B (en) * | 2019-12-25 | 2021-06-01 | 扬州工业职业技术学院 | Rail-mounted agricultural robot walking control method and system and robot |
| CN112008687B (en) * | 2020-09-21 | 2022-04-19 | 中科开创（广州）智能科技发展有限公司 | Stay tower robot, cross tower bypass and robot system of patrolling and examining |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103595301B (en) * | 2013-11-22 | 2015-07-15 | 湖北工业大学 | Magnetic force suspension robot for operation of overhead high-tension power transmission line |
| CN103595300B (en) * | 2013-11-22 | 2015-09-02 | 湖北工业大学 | A kind of magnetic force drive robot for overhead high-tension transmission line operation |
| WO2016207784A1 (en) * | 2015-06-23 | 2016-12-29 | Electrical Grid Monitoring Ltd. | A method and system for cleaning electric grid |
| CN106026781A (en) * | 2016-08-04 | 2016-10-12 | 湖北工业大学 | Dual-coil magnetic force driving device for high-voltage line inspection robot |
| CN206123635U (en) * | 2016-08-31 | 2017-04-26 | 中铁第四勘察设计院集团有限公司 | Well low -speed maglev rescue robot |
| CN106625629B (en) * | 2016-12-01 | 2017-10-31 | 长沙科达智能装备股份有限公司 | The many arm supports in tunnel, the end arm support posture multi-mode automaton of multi-joint implement and method |
| CN206908182U (en) * | 2017-05-17 | 2018-01-19 | 北京国网富达科技发展有限责任公司 | A kind of shaft tower guide rail steps on tower inspecting robot with magnetic force road wheel and transmission line of electricity |
| CN106981969B (en) * | 2017-05-27 | 2019-01-04 | 湖北工业大学 | Deicing robot magnetic torque rotation drive device based on magnetic conduction conductive material |
-
2018
- 2018-04-19 CN CN201810352136.7A patent/CN108551116B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108551116A (en) | 2018-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108551116B (en) | Driving force control system and method for magnetic robot of high-voltage direct-current transmission line | |
| CN104863438B (en) | A kind of door handle covering device and the vehicle with it | |
| US10189164B2 (en) | Robot, control device, and robot system | |
| US9073221B2 (en) | Working robot and processing plant | |
| CN105411468A (en) | Intelligent climbing robot cleaner | |
| CN105666481A (en) | Pipe overhauling robot control system | |
| JP2021175368A (en) | Guide device for shuttle of planar motor | |
| CN107249926A (en) | Suspension control system for transportation system | |
| CN108555910B (en) | High-voltage direct-current transmission line magnetic robot rotation force control system and control method | |
| CN105500362A (en) | Control system for multi-joint omnidirectional type pipe-out robot | |
| CN108494289B (en) | High-voltage dc transmission electric wire magnetic force machine device people's suspension Force control system and control method | |
| US11789425B2 (en) | Transport control apparatus and transport control system including the same | |
| CN1018364B (en) | Controlling apparatus of elevator doors | |
| JP7148342B2 (en) | Electric vehicle power supply system | |
| CN208332610U (en) | Air exhausting structure and air conditioner with it | |
| CN106760801A (en) | Self-adapting stretching formula is U-shaped to move car system | |
| CN107695570A (en) | Suitable for the magnetic welding robot and its method of work long lasting for work | |
| CN101590646B (en) | Overhead cable climbing robot walking and obstacle spanning mechanism | |
| CN220884583U (en) | Vehicle device with self-adaptive gravity center position and control system | |
| CN204549354U (en) | A kind of steel plate steering conveyor structure being applied to steel processing | |
| JP7392608B2 (en) | Goods conveyance equipment | |
| CN208775855U (en) | Self-adapting intelligent sorting-type clamps haulage equipment | |
| JPH10236740A (en) | Control device for elevator | |
| CN107591985A (en) | Novel energy-conserving speed governing type permanent-magnet coupled speed regulator | |
| US20240010250A1 (en) | Transport Vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |