CN108673508A - The Multi-sensor Fusion control method and system of hotline maintenance robot - Google Patents
The Multi-sensor Fusion control method and system of hotline maintenance robot Download PDFInfo
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- CN108673508A CN108673508A CN201810589388.1A CN201810589388A CN108673508A CN 108673508 A CN108673508 A CN 108673508A CN 201810589388 A CN201810589388 A CN 201810589388A CN 108673508 A CN108673508 A CN 108673508A
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Classifications
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a kind of Multi-sensor Fusion control method of hotline maintenance robot and systems, sequence from top to bottom restores hotline maintenance robot, and the present invention is by merging each sensing data, recorder people's state, by the comparison with initial position, completion status resets.Meanwhile by the range data of mechanical arm and substation equipment, leakage current data, realizing the security protection in robot reduction process.
Description
Technical field
The present invention relates to a kind of Multi-sensor Fusion control method of hotline maintenance robot and systems.
Background technology
Finished in hot line robot operation, insulation arm from job state be reset to operation before state when, if passed through
The mode of remote control resets robot, then needs complicated operation, takes a substantial amount of time.In the process, robot holds
Easily there is center of gravity and keep working condition, inside the numerous substation of equipment, easily collides with equipment and sent out so as to cause danger
It is raw.In addition, can also occupy larger space, other operations are influenced.
Meanwhile when reduction, in the feelings detected in implementation procedure, each sensor and actuator will appear while judging
Condition can influence the action process and fluency of entire mechanical arm, be susceptible to mechanical arm and break down or damage power circuit
Or the case where power equipment.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of Multi-sensor Fusion control method of hotline maintenance robot
And system, the present invention complete shape by merging each sensing data, recorder people's state by the comparison with initial position
State resets.Meanwhile by the range data of mechanical arm and substation equipment, leakage current data, realizing robot reduction process
In security protection.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of Multi-sensor Fusion control method of hotline maintenance robot, including：
Priority is divided, configuration leakage current sensor has highest priority, followed by ultrasonic sensor, inclination angle
Sensor and encoder, the minimum sensor of priority are laser sensor and visual sensor；In actuator, insulation arm is dynamic
Make actuator there is highest priority, followed by power tool, the minimum actuator of priority to be chassis driving and supporting leg control
Actuator processed；
Any actuator priority is multiplied by it and is associated with the priority of actuator, by judging that priority determines the dynamic of actuator
Make sequencing, two priority classes its actuation means action is judged according to it.
Further, in real time detection robot complete machine leakage current values and each position of insulation arm and substation equipment away from
From when leakage current values exceed safety value, robot complete machine everything will stop；Pacify when exceeding at a distance from substation equipment
When total head, the insulation arm of corresponding position will stop operation.
Further, the leakage current values of robot and distance value, the insulation arm corner value of substation equipment are detected successively
With chassis inclination value, above-mentioned data are judged according to sequencing, when each data are in normal range (NR), are answered successively
Position operation.
Further, when a sensor corresponds to multiple actuators, by judging that priority determines the action of actuator
Sequencing then judges the action of two priority classes its actuation means that is, when multiple sensors judge simultaneously according to it.
Further, the hotline maintenance robot, including hotline maintenance robot body, specifically include mobile mechanism,
It is set to the chassis in mobile mechanism, is used to support and fixes the supporting leg of mobile mechanism, the insulation arm being set on chassis, setting
In the small fly jib on insulation arm, the power tool being equipped on small fly jib (includes at least conducting wire cleaning device and conducting wire mending work
Tool), insulation arm, small fly jib, conducting wire cleaning device and conducting wire mending tool all have motion and corresponding control mechanism.
Further, the multisensor includes swashing for the collapsing length for measuring insulation arm being arranged on insulation arm
Ligh-ranging sensor, the leakage current sensor for measuring leakage current measure the encoder of insulation arm rotation angle, measure
The ultrasonic sensor of tool and substation equipment distance measures the obliquity sensor at chassis inclination angle, and measures insulation arm position
Set close to switch.
Further, after receiving key reduction control instruction, each sensor is by the current state of corresponding actuator and just
Beginning state is compared, and when current state and original state difference are less than the error amount of setting, reduction is completed.
Further, the power tool is driven by motor, and during the motion, the electric current in motor driving plate passes
Sensor will detect crimping electric current in real time, when electric current exceed safety value, be considered as recovery complete.
Further, the insulation arm has telescopic arm and rotary shaft, and rotary shaft valve group driving rotary shaft is moved,
Telescopic shaft valve group driving telescopic shaft is moved.
Further, encoder is provided in the rotary shaft, encoder detects rotation shaft angle value, works as encoder in real time
When numerical value is 0, it is considered as recovery and completes.
Further, laser range sensor is provided on the telescopic shaft, detection is flexible in real time for laser range sensor
Shaft length is considered as recovery and completes when laser range sensor numerical value is 0.
A kind of Multi-sensor Fusion control system of hotline maintenance robot, including controller, the controller is in machine
When people's operation, it is configured to carry out priority orders operation according to following strategy：
Priority is divided, configuration leakage current sensor has highest priority, followed by ultrasonic sensor, inclination angle
Sensor and encoder, the minimum sensor of priority are laser sensor and visual sensor；In actuator, insulation arm is dynamic
Make actuator there is highest priority, followed by power tool, the minimum actuator of priority to be chassis driving and supporting leg control
Actuator processed；
Any actuator priority is multiplied by it and is associated with the priority of actuator, by judging that priority determines the dynamic of actuator
Make sequencing, two priority classes its actuation means action is judged according to it.
Compared with prior art, beneficial effects of the present invention are：
1, the present invention can be quickly through merging each sensing data, recorder people's state, by with initial position
Compare, completion status resets, and ensures the safety of robot and substation equipment；
2, the present invention by reduction process, constantly acquire and compare mechanical arm and substation equipment range data,
Leakage current data realizes the security protection in robot reduction process；
3, the present invention can effective guarantee robot manipulating task safety can effectively be prevented by dividing the priority of sensor
Only priority is identical and the problem of system erroneous judgement occur.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is the schematic diagram of robot system sensor priority；
Fig. 2 is the schematic diagram of robot system actuator priority；
Fig. 3 is main sensors and its association schematic diagram for being associated with actuator；
Fig. 4 is the system construction drawing of Multi-sensor Fusion；
Fig. 5 is the installation position figure of each sensor in multisensor.
1-6- leakage current sensors, 7- encoders, 8- ultrasonic sensors, 9- encoders, 10- laser scanners, 11-
Binocular camera, 12- ultrasonic sensors, 13- are encoded close to switch, 14- laser range sensors, 15- close to switch, 16-
Device, 17- ultrasonic sensors.
Specific implementation mode：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " shall be understood in a broad sense, and indicate may be a fixed connection,
Can also be to be integrally connected or be detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
Substation's live-line maintenance operation robot system includes that substation equipment hotline maintenance robot body, high power are close
Spend hydraulic manipulator, special operation tool and robot control system.For above system, the control object of a key also original system
Mainly：Robot body and special operation tool, wherein robot body include mobile chassis and insulating telescopic arm.
As a kind of typical embodiment, a kind of substation's live-line maintenance operation robot system is provided and is illustrated, this
The control method of invention and the workability of system.
Substation's live-line maintenance operation robot system includes that substation equipment hotline maintenance robot body, high power are close
Spend hydraulic manipulator, special operation tool and robot control system.For above system, the object of Multi-sensor Fusion control
Mainly：Robot body and special operation tool, wherein robot body include mobile chassis and insulating telescopic arm.
Further to be described in detail, robot body includes：Mobile chassis, the insulated lift being set on mobile chassis
Arm, insulated lift arm front end connect small fly jib, and the live working platform for placing live line tool is arranged in small fly jib front end,
Small fly jib is connect by Quick Connect Kit with live line tool；
Live line tool includes：Conducting wire mending tool, insulator cleaning tool；
Job platform is mainly used for placing the components such as conducting wire mending tool, insulator cleaning tool and electric cabinet, and at it
On be equipped with the controls such as panorama camera, laser range finder, sonac monitoring component.
Remote terminal includes remote control module and wireless communication module, and the remote control module includes industrial personal computer, liquid crystal display
With handle button, industrial personal computer is communicated by wireless communication module and master controller.Wireless communication module is made of bridge and antenna,
Using 2.4G communications.Handle button includes：Button for the left and right wheels direction of motion for controlling mobile carrier vehicle；
The button in direction is cleaned for controlling cleaning agency；Button for control machinery arm pitching/rotation；For controlling mobile chassis
The button of hydraulic leg；One key restores control button and manual/auto switching key etc.；It is realized to machine by remote terminal
Device human body, live line tool remote control.
Robot walking operations in substation are needed by mobile tool, and hotline maintenance robot of substation uses crawler belt
Formula mobile chassis structure.Crawler-type mobile chassis by chassis, track frame, driving wheel, carrying roller, crawler belt, tension buffer device with
And four hydraulic legs composition of both sides is, it can be achieved that accessible movement under Various Complex road conditions environment, is upkeep operation robot
Mobile platform support is provided.
Electro-hydraulic drive scheme is used for the mobile chassis of hotline maintenance robot of substation, that is, uses single motor+mono- liquid
Press pump+hydraulic motor drive scheme drives hydraulic pump using a motor (being usually direct current generator), and electric chassis is by hydraulic pressure horse
Up to machine integrated running gear, the rubber belt track of slowing down, the advantages of driving wheel, the compositions such as directive wheel, strainer, this programme
In the upper dress insulated part and leg portion of robot can share a set of hydraulic system with chassis, reduce the redundancy of system
Degree.
Lithium battery group and battery management system, high voltage control box, charger, chassis control are arranged inside mobile chassis respectively
Valve group processed, chassis control case, hydraulic oil container, heavy-duty motor, hydraulic pump, hydraulic pressure radiator and accumulator etc.；Using crawler belt
Formula electric chassis structure is still belonged to the first using powered version, has noise low at home for the chassis of 3-3.5 tonnages, energy saving
Environmentally friendly and energy saving effect, has very important significance for environmental protection.
For the insulated lift arm system of substation's live-line maintenance operation, including：Rotary reducer, revolving platform, principal arm,
Upper arm, insulating telescopic arm and small fly jib；
Revolving platform is mounted on rotary reducer, and principal arm is connect with revolving platform, is realized and is turned round by revolving platform, main
Arm is connect with amplitude oil cylinder, passes through the pitching of the flexible realization principal arm of amplitude oil cylinder；
Principal arm is rotatably connected with upper arm, and upper arm realizes that the opposite pitching with principal arm moves by the driving of upper arm oscillating oil cylinder
It is dynamic；The setting of upper arm oscillating oil cylinder realizes upper arm pitching raising, compared to traditional amplitude oil cylinder, saves the cloth of mechanical arm
Between emptying, structural compactness and operation stability are improved.
Upper arm is fixedly connected with insulating telescopic arm, and insulating telescopic arm uses the frame mode of synchronization telescope, and arm support is flexible
In the process, respectively section telescopic arm is stretched with identical stroke ratio simultaneously.Insulating telescopic arm is by the straight line that is provided at its inner portion
Hydraulic oil cylinder driving is realized flexible；Realize that the flexible of insulation arm, chain telescopic device are former using fixed pulley is moved by chain telescopic device
Reason, it is 1 that its flexible speed ratio, which is arranged,:2, i.e. oil cylinder stretches out 100mm, and insulating telescopic arm stretches out 200mm.The stretch mode can effectively contract
The length of short insulating telescopic arm increases insulation distance.
There is the otic placode for installing small fly jib in insulating telescopic arm front end, to connect small fly jib；Small fly jib and flexible inner arm are removable
Dynamic connection, small fly jib are insulating materials hollow bar structure, increase the stability of structure, effectively prevent in operation process by
It is safeguarded in the chatter phenomenon of link mechanism, and convenient for assembling.Small fly jib driving mechanism is oscillating oil cylinder, is convenient for the peace of sensor
Dress, improves control accuracy.Small fly jib is realized opposite with flexible inner arm by rotary oscillation oil cylinder and pitching hydraulic oil cylinder driving
Rotary oscillation and pitching；Small fly jib realizes platform fine tuning by leveling oscillating oil cylinder；A pitching freedom is arranged in small fly jib
Degree, a rotary freedom and a platform finely tune degree of freedom, keep the manipulation of platform and movement more convenient.
Principal arm includes two sections of metal arms and the insulation arm that is arranged between two sections of metal arms；Upper arm include two sections of metal arms and
Insulation arm between two sections of metal arms is set；Insulating telescopic arm includes insulation outer arm and flexible inner arm；Small fly jib includes two sections
Metal arm and the insulation arm being arranged between two sections of metal arms；The set-up mode of above-mentioned mechanical arm material, on the one hand can realize
Good insulation, meets the needs of livewire work, on the other hand alleviates the overall weight of mechanical arm, and it is integrally steady to improve mechanical arm
It is qualitative.
Live working platform is arranged in small fly jib front end, and panorama camera and laser scanning is respectively set on live working platform
Instrument, for realizing Image Acquisition and ranging.
The electrifications such as hydraulic manipulator (foreign matter cleaning tool), insulator cleaning tool work is mainly carried on live working platform
Industry dedicated unit.So the leveling precision and leveling reliability of live working platform by directly affect livewire work effect and
Efficiency.
Live line tool is attached with small fly jib by Quick Connect Kit, passes through quick-release connector between fluid pressure line
Being switched fast for different work tool is realized in connection.
Installed respectively on principal arm and upper arm encoder and close to switch, can obtain principal arm and upper arm rotation angle and
Location information；3 ultrasonic sensors are installed respectively on three sides of upper arm elbow joint, for acquiring elbow joint to substation
The distance of middle equipment；Laser range sensor is installed on insulating telescopic arm, the collapsing length of flexible inner arm can be obtained；Small fly jib
Upper mounted angle sensor respectively and horizontal rotation encoder, can obtain the rotation angle and level inclination of small fly jib；Pass through
Multi-sensor data is merged, realized to the reduction of a key of insulated lift arm system according to the priority orders of setting and
Leveling to small fly jib.
The insulation arm course of work, by controlling the pitching of principal arm and upper arm, the flexible and small fly jib of insulating telescopic arm
Precision is finely tuned, and live line tool is accurately sent to target location.
The present invention is used for the insulated lift arm system of substation's live-line maintenance operation, further includes：Insulated lift arm control system
System, the insulated lift arm control system include：Master controller, pilot controller and signal acquisition module；The master controller
By optical fiber distinguish signal acquisition module with and pilot controller communicate；
Signal acquisition module is for acquiring upper arm rotation angle information and principal arm security protection information, and by collected letter
Breath passes to master controller；(3 ultrasonic sensors are separately positioned on three sides of elbow joint, for acquiring
The distance of equipment in elbow joint to substation)；
Pilot controller acquisition obtains voltage signal, and voltage is believed mounted on the data of the ultrasonic sensor of upper arm
It number is scaled range information, realizes the control to elbow joint hydraulic proportion valve.
Pilot controller acquisition is mounted on the data of the laser range sensor on insulating telescopic arm, obtains insulating telescopic arm
The distance between substation equipment, to realize the control to insulating telescopic arm collapsing length；
Pilot controller acquisition is mounted on the data of the obliquity sensor on automatic job platform, obtains the rotation of small fly jib
Angle, to realize the control to small fly jib rotation angle；
Pilot controller acquisition is mounted on the data of the horizontal rotation encoder on small fly jib, and the level for obtaining small fly jib is inclined
Angle, to realize the control to small fly jib level inclination；
Master controller acquires the data of the encoder mounted on principal arm and upper arm respectively, obtains the corner of principal arm and upper arm,
To realize the control to principal arm and upper arm corner；
Master controller acquires the data close to switch on principal arm and upper arm respectively, obtains the position of principal arm and upper arm
Confidence ceases, to realize the control to principal arm and upper arm position.
Insulated lift arm control system includes：Small fly jib levelling control system, specifically includes：Obliquity sensor, leveling electricity
Magnet valve and signal input output end；The obliquity sensor is connect by signal input output end with master controller, master control
Device processed is connect with solenoid valve；
Obliquity sensor detects the angle of inclination of automatic job platform, is exported in the form of voltage signal, and controller passes through letter
Number input and output terminal reads the numerical value, obtained inclination data is compared with allowable error, when inclination data is more than
When allowable error, by adjusting spool aperture and the valve core movement direction of leveling solenoid valve, the control for exchanging flat oscillating oil cylinder is realized
System, to realize leveling operation.
Encoder is respectively set in principal arm and upper arm position, for realizing the measurement of principal arm and upper arm rotation angle；
Telescopic shaft laser range sensor is set on flexible inner arm, for realizing the measurement of telescopic arm distance of stretch out and draw back；
Leakage current sensor is set, realizes the measurement of leakage current values；
Ultrasonic sensor is set in upper arm position, for realizing the measurement of upper arm and substation equipment range information.
The flexible of telescopic arm is controlled by telescopic shaft valve group, the rotation of rotating platform is controlled by rotary shaft valve group.
Substation's livewire work conducting wire mending tool is equipped with opening on the housing as shown in figure 5, including shell, drives
The setting of motivation structure is separately connected in the opening, driving mechanism with left clamping, right clamping limb, and driving left and right clamping limb realization is opened
Resultant motion；It is repaiied for fixation between the left clamping and right clamping limb, along the direction setting vertical with the clamping limb direction of motion
Zygonema device is respectively set at the both ends of patch pedestal in the pedestal of sticking patch.
Pedestal is arc-shaped in indent, and trapezoidal fixed pin shaft is arranged in pedestal both ends, is used for retained prosthesis makes piece.
The preferred structure of driving mechanism includes：Worm and worm-wheel gearing and driving motor；
Driving motor is bolted with drive pad；Worm shaft is keyed with worm screw, left and right clamping limb and worm gear
It is respectively adopted and is bolted, have through-hole among clamping limb and worm gear, transmission gear is keyed with motor shaft/worm shaft, by connecting
Axis is fixed shell, clamping limb and worm gear clearance fit, connecting shaft by baffle ring.
Driving motor drives worm shaft, worm shaft to be equipped with two sections of helical tooths, each section of spiral by transmission gear
Tooth is separately connected a worm gear, and the worm gear is separately connected left clamping and right clamping limb；Worm shaft drives worm gear rotation, from
And drive the movement of left and right clamping limb.
The start and stop of driving motor are realized by the control panel being arranged in control cabinet；Wireless receiving and dispatching mould is additionally provided in control cabinet
Block has buckle on radio receiving transmitting module, is stuck on installation sliding rail, and installation guide rail is bolted the lower plate in control cabinet shell
On, the effect of radio receiving transmitting module is remote radio communication.Radio receiving transmitting module is received to the control signal of driving motor simultaneously
It is sent to control panel, control panel controls the start and stop of driving motor, to the working condition of pilot repair apparatus.
Battery tray, battery and battery tray clearance fit, the main work of battery are further fixed on the shell of conducting wire mending device
With being the power supplies such as the control panel for conducting wire mending device, radio receiving transmitting module, driving motor and information collecting device.
Switch is additionally provided in control cabinet shell；Hole is opened from threaded and nut, control cabinet shell on switch, switch is worn
Trepanning is crossed, from make-up；The effect of switch is to power at work with that can make conducting wire mending device, and when inoperative powers off, and has
Conducive to energy saving.
It should be noted that the driving mechanism of the present invention can also use other drives that those skilled in the art can be known
Dynamic form, such as：The form of driving motor driving rotation is respectively adopted to left and right clamping limb or is directly driven using stepper motor
Dynamic left and right clamping limb carrys out the form of back rotation.
Zygonema device includes the groove for being separately positioned on pedestal both ends for collapsing conducting wire, and groove top opening is in funnel
Shape；Convenient for collapsing broken lot conducting wire；In groove the opposite zygonema head that is open is separately connected close to the both sides of bottom position；Zygonema head is adopted
With 3/4 circle structure design, lower edge is 1/4 circle, and upper edge is 1/2 circle, and zygonema head is bolted with zygonema device, can be revolved around bolt
Turn；The effect of zygonema head is will to collapse the broken lot conducting wire come in further to pool together.
Patch includes：
Conductor compression jointing area is connected at least two crimping teeth in the side in the conductor compression jointing area, each two crimp tooth it
Between form the gap of setpoint distance, the other side in conductor compression jointing area is connected with crimping tooth corresponding with the clearance position；
The end of the crimping tooth, which curves inwardly, sets radian.
The rear and front end in conductor compression jointing area is respectively equipped with opening, and the openings of sizes meets and the ladder at pedestal both ends is arranged
Shape fixed pin shaft transition coordinates, and is positioned by bolt.The fixation problem of effective solution patch, and prevent conductor compression jointing process
In patch Rotation.
Through-hole is arranged in the center in conductor compression jointing area, being capable of loss of weight.
Conductor compression jointing area is arc groove, the crooked radian of arc groove and the aduncate radian in end for crimping tooth
It is determined according to the diameter of conducting wire, for example, for 400 model conducting wires, the crooked radian for designing arc groove is 40 °；Bending radius
For 15.5mm；The aduncate bending radius in end for crimping tooth is 12mm.By the two radians of reasonable set, can ensure
Two crimping teeth can be buckled in as buckle on conducting wire, moreover it is possible to prevent the rebound of crimping tooth after crimping.
It should be noted that the aluminium flake of the material selection 2mm of patch, aluminium flake thickness is too thick, is unfavorable for bending clamping；Aluminium
Piece thickness is too thin, is easy that aluminium flake springback influence is made to crimp effect.
In the embodiment of the present invention, conducting wire mending device is carried by hot line robot and carries out conducting wire in overhead transmission line
Repairing work.Hot line robot includes mobile chassis, the insulating telescopic arm being fixed on mobile chassis, and is fixed on absolutely
The automatic job platform of edge telescopic arm front end；It is flat that automatic job mechanical arm and information collecting device can be fixed on automatic job
On platform, automatic job platform is connect with insulating telescopic arm, and insulating telescopic arm is fixed on mobile chassis；It is realized by telescopic oil cylinder
Insulating telescopic arm stretches, to drive automatic job platform to reach job position.
It should be noted that automatic job mechanical arm and insulating telescopic arm are required with good insulating properties, it is specific exhausted
The form for increasing insulation sleeve on the robotic arm may be used in the form of edge, can also use and set mechanical arm to insulating materials section
The form being arranged alternately with metal material section.
Conducting wire mending tool is clamped by automatic job mechanical arm carries out operation, and conducting wire mending work is clamped in automatic job mechanical arm
Tool enters conducting wire from the undamaged side of conducting wire, is aligned to conducting wire by information collecting device；
Automatic job mechanical arm clamping conducting wire mending tool is moved to damaged part by undamaged side, and stranded conducting wire is in conducting wire
It is collapsed under the action of repair outfit zygonema device and zygonema head：Conducting wire mending tool into fashionable, is led by the undamaged side of conducting wire
The groove of line economic cooperation line apparatus enters conducting wire mending tool, meanwhile, conducting wire is contacted with zygonema head lower edge, and entering conducting wire in conducting wire repaiies
When benefit tool, zygonema head rotates, and the upper edge and conductive contact of zygonema head surround conducting wire upper semi-circle, in zygonema device
Groove lower end together surrounds conducting wire overall diameter, and in conducting wire mending tool along conducting wire walking process, the lower half circle of conducting wire is always
It is contacted with the upper lower edge of zygonema head, zygonema head is made not rotate；Exist centainly between conducting wire and zygonema device and zygonema head
Gap, broken lot conducting wire collapse under the action of zygonema device and zygonema head.
When the stranded conducting wire of sticking patch center to be repaired face, automatic job mechanical arm stops movement, conducting wire mending tool
Driving mechanism drives clamping limb to compress patch, carries out auto-mending operation；
After the completion of operation, under the action of driving motor, clamping limb reversely rotates, after arm to be held opens completely, control
Driving mechanism stop motion processed；
The underface movement of conducting wire mending tool guiding line is clamped in automatic job mechanical arm, and conducting wire mending tool is withdrawn and is led
Line.
It should be noted that foreign matter cleaning disclosed by the invention is realized by automatic job mechanical arm, foreign matter cleaning device
Automatic job mechanical arm and information collecting device are set i.e. on automatic job platform.
Substation's support insulator hot-line cleaning tool of the present invention, including：Vertical lifting mechanism, encircle rotating mechanism with
And two cleaning agencies, wherein vertical lifting mechanism is arranged on and can move up and down thereon for encircling rotating mechanism；Ring
It embraces rotating mechanism to be then arranged on for cleaning agency, and the cleaning agency can be driven around substation's support insulator axis horizontal
Rotation；Cleaning agency is to be cleaned to substation's support insulator.
The invention also discloses the control systems of substation's support insulator hot-line cleaning tool, to control substation's branch
The operation of column live insulator cleaning apparatus, substation's support insulator electric cleaning device are carried by hot line robot
And carry out the cleaning work of substation's support insulator.
The control system includes control module, signal transmitting and receiving module, drive module and protection module, wherein control mould
Block is generating and export control instruction；Signal transmitting and receiving module is sent to driving mould to the control instruction for exporting control module
Block, and send the limit signal that protection module generates to control module；Drive module is charged to be driven according to control instruction
Cleaning device is run；Protection module then to monitor the position of hot-line cleaning tool operation, is produced when it runs to extreme position
Raw limit signal, and fed back to control module.
Specifically, control module includes remote control terminal and master controller, remote control terminal and master controller it
Between for wireless communication connection (such as WIFI).Remote control terminal sends control when its remote-control handle is operated or button is pressed
Signal processed realizes the control to substation's support insulator electric cleaning device, the control to master controller, by master controller
Signal is multi-way switching values signal or analog signals.Master controller also receives the limit signal from protection module, the limit
Signal is on-off model.Master controller receives control signal from remote control terminal or from the limit of protection module
When signal, the corresponding control instruction that exports is to signal transmitting and receiving module.The control instruction is the analog signals of " 0~5V ", such as master control
When device processed receives the on-off model of " -127~127 " of 10 output of remote control terminal, digital-to-analogue conversion processing is carried out to it, with
Export the analog signals of " 0~5V ".
Signal transmitting and receiving module receives control instruction from master controller, and sends it to drive module；It is connect from protection module
Limit signal is received, and sends it to master controller.Signal transmitting and receiving module includes analog signals radio receiving transmitting module and switch
Measure signal radio receiving transmitting module.
Analog signals radio receiving transmitting module is acquiring and teletransmission analog signals, including analog input mould
Block, analog quantity wireless transmitter module, analog quantity wireless receiving module and analog output module.Wherein, analog input mould
Block is connected with analog quantity wireless transmitter module, and analog quantity wireless receiving module is connected with analog output module, analog quantity
It is wireless communication connection between wireless transmitter module and analog quantity wireless receiving module, and the analog quantity wireless receiving module exports
" 0-5V " analog signals.When Analog input mModule receive master controller output control instruction, that is, export to analog quantity
Wireless transmitter module is sent to analog quantity wireless receiving module by analog quantity wireless transmitter module, then through analog quantity wireless receiving
Module is exported to analog output module, is exported to drive module by analog output module.The analog output module and drive
Using Ether CAT communications between dynamic model block.
On-off model radio receiving transmitting module is for acquiring simultaneously teletransmission on-off model, including On-off signal mould
Block, switching value wireless transmitter module, switching value wireless receiving module and switching value output module, wherein On-off signal mould
Block is connected with switching value wireless transmitter module, and switching value wireless receiving module is connected with switching value output module, switching value
Radio communication is used between wireless transmitter module and switching value wireless receiving module.When switching input module receives protection mould
The limit signal of block output, that is, export to switching value wireless transmitter module, switching value be sent to by switching value wireless transmitter module
Wireless receiving module, then exported to switching value output module through switching value wireless receiving module, it is exported by switching value output module
To master controller.
Drive module is charged clearly to receive the control instruction of signal transmitting and receiving module transmission according to control instruction driving
Tool operation is swept, or terminates the operation of hot-line cleaning tool.The drive module includes servo valve and hydraulic motor, wherein servo valve
The control instruction of analog output module output is received, and hydraulic motor movement is controlled according to the control instruction, to drive band
Electric cleaning device carries out substation's support insulator cleaning work.
Protection module includes optoelectronic switch and close switch, to monitor the position of hot-line cleaning tool operation, with accordingly
Hot-line cleaning tool is limited.When hot-line cleaning tool moves to extreme position, triggers optoelectronic switch and/or approach and open
It closes, the optoelectronic switch and/or close switch export limit signal to switching input module.
Such as optoelectronic switch or close to switch output " 5V " high level to switching input module, and then by On-off signal mould
Block is exported to switching value wireless transmitter module, and switching value wireless transmitter module is communicated with switching value wireless receiving module so that is opened
Wireless receiving module synchronism output relay signal is measured in pass, if providing 12V signals, output to switching value wireless receiving module
It for " 12V " high level, is connect with switching value output module, and outputs a signal to one of channel, work as optoelectronic switch
And/or close to when switching corresponding output low and high level, master controller, which corresponds to, receives low and high level.
In the present invention, vertical lifting mechanism encircles rotating mechanism and at least two cleaning agencies,
Vertical lifting mechanism and the operation for encircling rotating mechanism are driven by the hydraulic cylinder of drive module；Optoelectronic switch monitors
Optoelectronic switch is triggered in the position of vertical lifting mechanism operation when the vertical lifting mechanism moves to extreme position, which opens
It closes and exports limit signal (the first limit signal) to switching input module；Rotating mechanism operation is encircled close to switch monitors
Position is triggered when this, which encircles rotating mechanism, moves to extreme position close to switch, the close switch i.e. output limit signal
(the second limit signal) is to switching input module.
First limit signal and/or the second limit signal are sent to master controller by on-off model radio receiving transmitting module,
Master controller accordingly exports control instruction, hydraulic cylinder movement is controlled by controlling the servo valve of drive module, to control
Vertical lifting mechanism and rotating mechanism is encircled, such as enable its out of service, even if electric cleaning device persistently carries out post insulator
Sub- cleaning work or the operation for stopping electric cleaning device.
It these are only that citing, the setting of protection module and its optoelectronic switch, close switch are without being limited thereto.
When the control system control substation support insulator electric cleaning device operation of the present invention, it is operated first long-range distant
Control terminal sends a control signal to master controller by it.When the master controller receives the control signal, if the control signal
For on-off model, then the on-off model digital-to-analogue conversion is first analog signals by master controller, is that analog quantity is believed with output
Number control instruction to analog signals radio receiving transmitting module；If the control signal is analog signals, i.e. output is accordingly
The control instruction of analog signals is to analog signals radio receiving transmitting module.The control instruction is through analog signals wireless receiving and dispatching mould
Block transmits, the servo valve of final output to drive module, to start hydraulic motor work.Then, hydraulic motor driving electrification
Clearing apparatus is run, and cleaning work is carried out to substation's support insulator.
During electric cleaning device is run, optoelectronic switch and the position run close to switch monitors hot-line cleaning tool
It sets.When hot-line cleaning tool moves to extreme position, i.e., it can trigger optoelectronic switch and/or close to switch, make its output limit letter
Number to switching input module, which transmits through on-off model radio receiving transmitting module and exports to master controller.When
Master controller receives the limit signal, that is, exports corresponding control instruction, is controlled by controlling the servo valve of drive module
Hydraulic cylinder moves, and stops operation to control electric cleaning device.The control instruction is similarly analog signals, and through simulation
Amount signal radio receiving transmitting module is sent to drive module.
So realize control of the control system to substation's support insulator electric cleaning device.
In the specific implementation, master controller, Analog input mModule, analog quantity wireless transmitter module, switching value wirelessly connect
It receives module and switching value output module is set on the moving body of hot line robot, drive module, protection module, mould
Analog quantity wireless receiving module, analog output module, switching input module, switching value wireless transmitter module are then installed on electrification
On the hot-line cleaning tool that Work robot is carried.
The control system of substation's support insulator electric cleaning device of the present invention can help operator clear to charging
The method of operation and state for sweeping tool carry out remote control and monitoring, improve the insulating properties, stability and safety of robot manipulating task
Property.
By the way that above-mentioned robot body and live line tool, the present invention can be realized according to different types of execution
Different priority is respectively configured according to function for device and sensor, as depicted in figs. 1 and 2, in the sensor, Leakage Current sensing
Utensil has the highest priority, followed by ultrasonic sensor, obliquity sensor and encoder, the minimum sensor of priority to be
Laser sensor and visual sensor；In actuator, insulation arm actuator has highest priority, followed by operation
Tool, the minimum actuator of priority are that chassis driving and supporting leg control actuator.It can be good at charging above-mentioned substation
Upkeep operation robot system is controlled.
It specifically includes：
One key reduction be by a key trigger robot automatic reset, by robot from job state be reset to operation before shape
State.Reseting procedure realizes the monitoring to each joint, while realization and power transformation station equipment avoidance, the realization of a key also original system are
Multi-sensor fusion system based on robot.One key restores before and after system job.
Robot is after operation, and robot chassis support leg opens, insulation arm has different degrees of stretching, extension and rotation, special work
Industry tool is in job state.After the reduction of one key, simultaneously leveling chassis, insulation arm recycling are rotated to most for robot chassis support leg recycling
Small spatiality, power tool are recycled to minimum space state.
The realization of one key reduction is to be based on multi-sensor fusion system, and a key is after also original system is triggered, by each actuator
Current state and original state be compared, when current state and original state difference are less than certain error value, reduction system
System is completed.
The system that insulation arm recycles automatically, removal process are triggered by a key：It is whole that leakage current sensor detects robot
Machine leakage current size, ultrasonic sensor detect distance of each position apart from substation equipment, encoder by instantaneous value with just
Initial value is compared, and when instantaneous value is less than certain value with initial value error, obliquity sensor detects chassis angle of inclination, and controls
Supporting leg motor processed is to level value.So far recycling operation is completed.Reduction process is completed according to the priority of sensor and actuator.
When leakage current values and distance value are in normal range (NR), each actuator is returned according to first up and then down sequence
It receives.The recycling of each tool is carried out first, the recycling of telescopic arm, upper arm, middle arm and underarm is then carried out respectively, finally by supporting leg
Oil cylinder carries out leveling to chassis.
The operation of one key reduction is broadly divided into：Flexible reduction, rotation reduction and tool reduction.Wherein：
Flexible to restore the reduction for referring mainly to telescopic arm, the detection component of telescopic arm reduction is laser range sensor, when
When the error of sensing data and setting value is less than 10mm, it is considered as and resets operation completion；
Rotation reduction refers mainly to each joint rotation reduction, and the detection component for rotating reduction is encoder, when encoder number
When being less than 1 ° according to error, it is considered as and resets operation completion；
Tool restores the reduction for referring mainly to each tool subsystem, respectively carries out state judgement respectively according to technical indicator, works as reality
When data with setting data difference be less than allowable error when, be considered as reset operation complete.
In the process, multi-sensor fusion system, concrete structure is as shown in figure 4, each actuator will be monitored in real time
State, avoids that it collides with substation equipment and Leakage Current is excessive, ensures that robot is in safety work state.
Security protection system includes robot manipulating task security protection and motion control security protection, wherein operation safety protection
System relationship sensor is：Laser scanner, laser range sensor, Leakage Current sensor and encoder；Motion control is pacified
Full protection system relationship sensor is：Ultrasonic sensor, obliquity sensor and close switch.The installation position of each sensor
Can be preferably on position as shown in Figure 5.In telescopic arm end, ancon and the mounting ultrasonic sensor ranging of forearm end,
Distance is less than safety value deceleration and stops.
Leakage Current sensor, Leakage Current are installed in front of tool>1mA, warning lamp flicker.
Each main sensors correspond to different job tasks respectively, and control case is as shown in table 1.
1 sensor of table and its job task table of comparisons
After multi-sensor fusion system triggering, complete machine Leakage Current value, distance value, encoder values and chassis are detected successively and is inclined
Angle value judges above-mentioned data according to sequencing when each data are in normal range (NR), actuation means carry out successively
Reset operation.Detect and implementation procedure in, the case where each sensor and actuator will appear while judging, it is therefore necessary to right
It carries out priority classification according to urgency level.
Different types of actuator and sensor are respectively provided with different priority according to function, as shown in Fig. 1 and Fig. 2,
In in the sensor, Leakage Current sensor has highest priority, followed by ultrasonic sensor, obliquity sensor and coding
Device, the minimum sensor of priority are laser sensor and visual sensor；In actuator, insulation arm actuator has
Highest priority, followed by power tool, the minimum actuator of priority are that chassis driving and supporting leg control actuator.
Specific sensor and the actuator priority table of comparisons are：
2 sensor of table and the actuator priority table of comparisons
As shown in figure 3, during robot manipulating task, it may appear that a case where sensor corresponds to multiple actuators, so
It can lead to that priority is identical and system erroneous judgement occurs, occur to avoid similar situation so introducing judgement priority, judgement is preferential
Grade：Any actuator priority is multiplied by it and is associated with the priority of actuator.So when the above situation occurs, system will be by sentencing
Determine the action sequencing that priority determines actuator, i.e., it is when multiple sensors judge simultaneously, then preferential according to its judgement
Grade controls the action of its actuation means.
By taking ultrasonic sensor 8 and ultrasonic sensor 18 as an example：
Ultrasonic sensor 8 is that chassis drives guard sensor, then its priority is：
2 (ultrasonic sensor) * 3 (chassis driving)=6
Ultrasonic sensor 18 is telescopic arm rotation sensor, and priority is：
2 (ultrasonic sensor) * 1 (telescopic arm rotation)=2
Obviously：2<6, so, when two ultrasonic sensors are carried out at the same time judgement, mechanical arm rotation will slow down first to stop
Only.
In insulation arm recovery process, leakage current sensor and ultrasonic sensor let out real-time detection robot complete machine
Leakage current value and corresponding position are at a distance from substation equipment.When leakage current values exceed safety value, robot complete machine is all
Action will stop；When ultrasonic sensor numerical value exceeds safety value, the valve group of corresponding position will stop operation.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of Multi-sensor Fusion control method of hotline maintenance robot, it is characterized in that：Including：
Priority is divided, configuration leakage current sensor has highest priority, followed by ultrasonic sensor, inclination angle sensing
Device and encoder, the minimum sensor of priority are laser sensor and visual sensor；In actuator, insulation arm action is held
It is that chassis driving and supporting leg control are held that row utensil, which has highest priority, followed by power tool, the minimum actuator of priority,
Row device；
Any actuator priority is multiplied by it and is associated with the priority of actuator, by judging that priority determines that the action of actuator is first
Sequence afterwards judges two priority classes its actuation means action according to it.
2. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：In real time
Robot complete machine leakage current values and each position of insulation arm are detected at a distance from substation equipment, when leakage current values are beyond peace
Total head, robot complete machine everything will stop；When exceeding safety value at a distance from substation equipment, the insulation of corresponding position
Arm will stop operation.
3. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：Successively
Leakage current values, distance value, insulation arm corner value and the chassis inclination value with substation equipment for detecting robot, according to successively
Sequence judges above-mentioned data, when each data are in normal range (NR), carries out reset operation successively.
4. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：When more
A sensor judges simultaneously, is acted according to its actuation means of corresponding judgement two priority classes.
5. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：It is described
Hotline maintenance robot, including hotline maintenance robot body, specifically include mobile mechanism, are set to the bottom in mobile mechanism
Disk, the insulation arm being set on chassis, the small fly jib being set on insulation arm, the power tool being equipped on small fly jib, insulation
Arm, small fly jib and power tool all have motion and corresponding control mechanism.
6. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：It is described
Multisensor includes the laser range sensor for the collapsing length for measuring insulation arm being arranged on insulation arm, for measuring
The leakage current sensor of leakage current measures the encoder of insulation arm rotation angle, survey tool and substation equipment distance
Ultrasonic sensor, measure the obliquity sensor at chassis inclination angle, and measure insulation arm position close to switch.
7. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：It receives
After one key restores control instruction, the current state of corresponding actuator and original state are compared by each sensor, current
When state is less than the error amount of setting with original state difference, reduction is completed.
8. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：It is described
Power tool is driven by motor, and during the motion, the current sensor in motor driving plate will detect crimping electricity in real time
Stream, when electric current exceed safety value, be considered as recovery complete.
9. a kind of Multi-sensor Fusion control method of hotline maintenance robot as described in claim 1, it is characterized in that：It is described
Insulation arm has telescopic arm and rotary shaft, and rotary shaft valve group driving rotary shaft is moved, and telescopic shaft valve group drives telescopic shaft
It is moved；
Encoder is provided in the rotary shaft, encoder detects rotation shaft angle value in real time, when encoder numerical value is 0, depending on
To restore to complete；
Laser range sensor is provided on the telescopic shaft, the flexible shaft length of laser range sensor detection in real time works as laser
When distance measuring sensor numerical value is 0, it is considered as recovery and completes.
10. a kind of Multi-sensor Fusion control system of hotline maintenance robot, it is characterized in that：Including controller, the control
Device is configured to carry out priority orders operation according to following strategy in robot manipulating task：
Priority is divided, configuration leakage current sensor has highest priority, followed by ultrasonic sensor, inclination angle sensing
Device and encoder, the minimum sensor of priority are laser sensor and visual sensor；In actuator, insulation arm action is held
It is that chassis driving and supporting leg control are held that row utensil, which has highest priority, followed by power tool, the minimum actuator of priority,
Row device；
Any actuator priority is multiplied by it and is associated with the priority of actuator, by judging that priority determines that the action of actuator is first
Sequence afterwards judges two priority classes its actuation means action according to it.
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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