CN110308725B - GIS maintenance robot and adsorption force control method and related device thereof - Google Patents
GIS maintenance robot and adsorption force control method and related device thereof Download PDFInfo
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- CN110308725B CN110308725B CN201910599631.2A CN201910599631A CN110308725B CN 110308725 B CN110308725 B CN 110308725B CN 201910599631 A CN201910599631 A CN 201910599631A CN 110308725 B CN110308725 B CN 110308725B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012423 maintenance Methods 0.000 title claims description 17
- 238000007689 inspection Methods 0.000 claims description 26
- 230000005484 gravity Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000001988 toxicity Effects 0.000 abstract description 12
- 231100000419 toxicity Toxicity 0.000 abstract description 12
- 238000013459 approach Methods 0.000 abstract description 6
- 238000001839 endoscopy Methods 0.000 abstract description 6
- 229910018503 SF6 Inorganic materials 0.000 abstract description 3
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 abstract description 3
- 229960000909 sulfur hexafluoride Drugs 0.000 abstract description 3
- 150000001875 compounds Chemical class 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B13/00—Arrangement of switchgear in which switches are enclosed in, or structurally associated with, a casing, e.g. cubicle
- H02B13/02—Arrangement of switchgear in which switches are enclosed in, or structurally associated with, a casing, e.g. cubicle with metal casing
- H02B13/035—Gas-insulated switchgear
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Abstract
The embodiment of the application provides a GIS overhaul robot and an adsorption force control method and a related device thereof, various data of the robot are detected in real time through a gyroscope, a differential gauge and an infrared sensor, the data comprise a circumferential deflection angle, real-time internal and external pressure difference and real-time gap height, the critical adsorption force of the GIS robot and an internal and external pressure difference ideal value needing to be adjusted are analyzed and determined through a controller according to the data, a negative pressure adsorption device is controlled according to the internal and external pressure difference ideal value to adjust the internal and external pressure difference, the GIS robot is finally stably adsorbed on the inner wall of a GIS pipeline, the detection can be carried out regardless of any position of the GIS robot on the inner wall of the GIS pipeline, and the problem that SF (sulfur hexafluoride) during GIS overhaul can occur is solved6The technical problems of gas toxicity, difficult human arrival and multi-obstacle sheltering operation scenes are solved, the replacement of manual detection is realized, the problems of large toxicity and easy pollution of manual detection are avoided, and the limitations that an endoscopy mode is difficult to approach and is difficult to fully cover are broken through.
Description
Technical Field
The application relates to the technical field of electric robots, in particular to a GIS maintenance robot, a method for controlling adsorption force of the GIS maintenance robot and a related device.
Background
The gas insulated metal enclosed switchgear (GIS) has compact structure, small floor area and high reliability, is mainly used for power supply in urban central areas and is key equipment influencing reliable power supply, but the full-sealed structure of the GIS makes the fault positioning and maintenance more difficult, and the average power failure maintenance time is longer than that of conventional equipment.
SF can appear in GIS maintenance6The operation scenes of gas toxicity, difficult human arrival and multi-obstacle shielding need to be replaced by the development of a special robot urgently, the problems of large toxicity and easy pollution of manual detection are avoided, and meanwhile, the problems that an endoscopy mode is difficult to approach and difficult to pollute are solvedThe limitation of full coverage.
Disclosure of Invention
The embodiment of the application provides a GIS overhauling robot, an adsorption force control method thereof and a related device, and solves the problem that SF can appear in GIS overhauling6The technical problems of gas toxicity, difficult human arrival and multi-obstacle sheltering operation scenes are solved, the replacement of manual detection is realized, the problems of large toxicity and easy pollution of manual detection are avoided, and the limitations that an endoscopy mode is difficult to approach and is difficult to fully cover are broken through.
In view of the above, a first aspect of the present application provides a GIS inspection robot, including:
the device comprises a body, a sensing system, a negative pressure adsorption device arranged at the bottom of the body and a controller arranged in the body;
the sensing system comprises a gyroscope arranged in the body, a differential pressure gauge arranged at the bottom of the body and an infrared sensor;
the controller is respectively connected with the gyroscope, the differential pressure gauge, the infrared sensor and the negative pressure adsorption device.
Optionally, the negative pressure adsorption device comprises a vacuum generation device, a motor drive plate and a gap retaining device;
the first end of the gap maintaining device is fixedly connected with the vacuum generating device, the second end of the gap maintaining device is in rolling contact with the inner wall of the GIS pipeline, and the first end and the second end of the gap maintaining device are elastically connected through a spring;
the control end of the motor driving plate is connected with the controller;
the driving end of the motor driving plate is connected with the vacuum generating device and used for changing the internal and external pressure difference of the vacuum generating device.
Optionally, the height of the gap between the second end of the gap maintaining device and the inner wall of the GIS pipeline is in the range of 5-10 mm.
Optionally, the gyroscope is embodied as a three-axis gyroscope.
The second aspect of the present application provides a method for controlling an adsorption force of a GIS inspection robot, which is applied to the GIS inspection robot provided by the first aspect of the present application, and the method includes:
acquiring a circumferential deflection angle of the GIS overhauling robot detected by a gyroscope;
acquiring real-time internal and external pressure difference detected by a pressure difference meter and real-time adsorption force calculated according to the real-time internal and external pressure difference;
acquiring the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of a GIS pipeline, which is detected by an infrared sensor;
calculating the critical adsorption force of the GIS overhauling robot according to the circumferential deflection angle;
when the absolute value of the difference value between the real-time adsorption force and the critical adsorption force is larger than a preset threshold value, determining an ideal value of the internal and external pressure difference according to a preset adsorption force-internal and external pressure difference-circumferential deflection angle comparison table;
and adjusting the internal and external pressure difference generated by the negative pressure adsorption device to reach the internal and external pressure difference ideal value according to the real-time internal and external pressure difference and the internal and external pressure difference ideal value.
Optionally, the calculating the critical adsorption force of the GIS inspection robot according to the circumferential deflection angle specifically includes:
calculating the critical adsorption force of the GIS maintenance robot through a first preset formula;
the first preset formula specifically includes:
in the formula, FGMu is an equivalent friction coefficient and theta is a circumferential deflection angle for the gravity of the GIS overhauling robot.
The third aspect of the present application provides a GIS overhauls robot adsorption affinity controlling means, includes:
the first acquisition unit is used for acquiring a circumferential deflection angle of the GIS overhauling robot detected by the gyroscope;
the second acquisition unit is used for acquiring real-time internal and external pressure difference detected by the pressure difference meter and real-time adsorption force calculated according to the real-time internal and external pressure difference;
the third acquisition unit is used for acquiring the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of the GIS pipeline, which is detected by the infrared sensor;
the calculation unit is used for calculating the critical adsorption force of the GIS overhauling robot according to the circumferential deflection angle;
the comparison unit is used for determining an ideal value of the internal and external pressure difference according to a preset adsorption force-internal and external pressure difference-circumferential deflection angle comparison table when the absolute value of the difference value between the real-time adsorption force and the critical adsorption force is larger than a preset threshold value;
and the adjusting unit is used for adjusting the internal and external pressure difference generated by the negative pressure adsorption device to reach the internal and external pressure difference ideal value according to the real-time internal and external pressure difference and the internal and external pressure difference ideal value.
Optionally, the computing unit specifically includes:
calculating the critical adsorption force of the GIS overhauling robot through a first preset formula;
the first preset formula specifically includes:
in the formula, FGMu is an equivalent friction coefficient and theta is a circumferential deflection angle for the gravity of the GIS overhaul robot.
The fourth aspect of the present application provides a GIS inspection robot adsorption force control device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method according to the second aspect as described above according to instructions in the program code.
A fifth aspect of the present application provides a computer-readable storage medium for storing program code for performing the method of the second aspect described above.
According to the technical scheme, the embodiment of the application has the following advantages:
in the embodiment of the application, a GIS overhauls robot is provided, through the gyroscope, each item data of differential pressure gauge and infrared sensor real-time detection robot, including circumference declination, real-time inside and outside pressure differential and real-time clearance height, pass through the inside and outside pressure differential ideal value that critical adsorption affinity and needs adjustment of controller analysis confirmed GIS robot according to above-mentioned data, and carry out inside and outside pressure differential's adjustment according to inside and outside pressure differential ideal value control negative pressure adsorption equipment, finally adsorb GIS robot on GIS pipeline inner wall steadily, no matter GIS robot is in any position of GIS pipeline inner wall, all can detect, it can appear SF in the GIS overhauls to have solved6The technical problems of gas toxicity, difficult human arrival and multi-obstacle sheltering operation scenes are solved, the replacement of manual detection is realized, the problems of large toxicity and easy pollution of manual detection are avoided, and the limitations that an endoscopy mode is difficult to approach and is difficult to fully cover are broken through.
Drawings
Fig. 1 is a schematic structural diagram of a GIS inspection robot in an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for controlling the adsorption force of a GIS inspection robot in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an adsorption force control device of a GIS inspection robot in an embodiment of the present application;
FIG. 4 is the stress analysis graph of GIS maintenance robot when moving along GIS pipeline inner wall in this application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application designs a GIS overhauling robot, an adsorption force control method thereof and a related device, and solves the problem that SF (sulfur hexafluoride) appears in GIS overhauling6The technical problems of gas toxicity, difficult human arrival and multi-obstacle sheltering operation scenes are solved, the replacement of manual detection is realized, the problems of large toxicity and easy pollution of manual detection are avoided, and the limitations that an endoscopy mode is difficult to approach and is difficult to fully cover are broken through.
For convenience of understanding, please refer to fig. 1, fig. 1 is a schematic structural diagram of a GIS inspection robot in an embodiment of the present application, as shown in fig. 1, specifically, the schematic structural diagram includes:
the device comprises a body 1, a sensing system 2, a negative pressure adsorption device 3 arranged at the bottom of the body 1 and a controller 4 arranged in the body 1;
the sensing system 2 comprises a gyroscope arranged in the body 1, a differential pressure gauge arranged at the bottom of the body 1 and an infrared sensor;
the controller 4 is respectively connected with the gyroscope, the differential pressure gauge, the infrared sensor and the negative pressure adsorption device 3.
Further, the negative pressure adsorption device 3 comprises a vacuum generating device, a motor driving plate and a gap maintaining device;
the first end of the gap maintaining device is fixedly connected with the vacuum generating device, the second end of the gap maintaining device is in rolling contact with the inner wall of the GIS pipeline, and the first end and the second end of the gap maintaining device are elastically connected through a spring;
the control end of the motor drive plate is connected with the controller 4;
the driving end of the motor driving plate is connected with the vacuum generating device and used for changing the internal and external pressure difference of the vacuum generating device.
Further, the height of the gap between the second end of the gap maintaining device and the inner wall of the GIS pipeline ranges from 5 mm to 10 mm.
Further, the gyroscope is embodied as a three-axis gyroscope.
In the embodiment of the application, a GIS overhauling robot is provided, various data of the robot are detected in real time through a gyroscope, a differential pressure gauge and an infrared sensor, and the data comprise circumferential deviationThe angle, real-time internal and external pressure difference and real-time gap height are analyzed and determined through the controller according to the data to determine the critical adsorption force of the GIS robot and the internal and external pressure difference ideal value to be adjusted, the negative pressure adsorption device is controlled according to the internal and external pressure difference ideal value to adjust the internal and external pressure difference, and finally the GIS robot is stably adsorbed on the inner wall of the GIS pipeline, so that the detection can be carried out regardless of any position of the GIS robot on the inner wall of the GIS pipeline, and the problem that SF (sulfur hexafluoride) can appear in GIS maintenance is solved6The technical problems of gas toxicity, difficult human arrival and multi-obstacle sheltering operation scenes are solved, the replacement of manual detection is realized, the problems of large toxicity and easy pollution of manual detection are avoided, and the limitations that an endoscopy mode is difficult to approach and is difficult to fully cover are broken through.
Referring to fig. 2, fig. 2 is a flowchart of a method for controlling an adsorption force of a GIS inspection robot in an embodiment of the present application, which is applied to the GIS inspection robot in the first embodiment of the present application, and as shown in fig. 2, the method specifically includes:
201. acquiring a circumferential deflection angle of the GIS overhauling robot detected by a gyroscope;
it should be noted that, when the GIS inspection robot performs circumferential or compound motion along the inner wall of the GIS pipeline, the gyroscope detects the circumferential deflection angle of the GIS inspection robot in real time.
202. Acquiring real-time internal and external pressure difference detected by a pressure difference meter and real-time adsorption force calculated according to the real-time internal and external pressure difference;
it should be noted that, when the GIS inspection robot performs circumferential or compound motion along the inner wall of the GIS pipeline, the differential pressure gauge detects real-time internal and external differential pressure in real time, and calculates real-time adsorption force between the GIS inspection robot and the inner wall of the GIS pipeline according to the real-time internal and external differential pressure.
203. Acquiring the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of the GIS pipeline, which is detected by an infrared sensor;
it should be noted that, when the GIS inspection robot performs circumferential or compound motion along the inner wall of the GIS pipeline, the infrared sensor detects the real-time gap height between the bottom of the GIS inspection robot and the inner wall of the GIS pipeline in real time.
204. Calculating the critical adsorption force of the GIS overhauling robot according to the circumferential deflection angle;
it should be noted that, when the GIS inspection robot performs circumferential or compound motion along the inner wall of the GIS pipeline, the critical adsorption force of the GIS inspection robot can be calculated according to the obtained circumferential deflection angle, that is, the GIS inspection robot is stably adsorbed on the inner wall of the GIS pipeline by at least the required adsorption force.
205. When the absolute value of the difference value between the real-time adsorption force and the critical adsorption force is larger than a preset threshold value, determining an ideal value of the internal and external pressure difference according to a preset adsorption force-internal and external pressure difference-circumferential deflection angle comparison table;
it should be noted that, the obtained real-time adsorption force and the critical adsorption force are compared, and whether the absolute value of the difference between the two exceeds a preset threshold is determined, for example, when the real-time adsorption force is greater than the critical adsorption force and the absolute value of the difference is greater than the preset threshold, it may happen that the GIS maintenance robot cannot continue to perform circumferential or compound motion, and when the real-time adsorption force is less than the critical adsorption force and the absolute value of the difference is greater than the preset threshold, it may happen that the GIS maintenance robot cannot be stably adsorbed on the inner wall of the GIS pipeline due to insufficient real-time adsorption force. Therefore, the ideal value of the internal and external pressure difference is determined according to the prestored comparison table of the adsorption force, the internal and external pressure difference and the circumferential deflection angle.
206. Adjusting the internal and external pressure difference generated by the negative pressure adsorption device to reach the ideal value of the internal and external pressure difference according to the real-time internal and external pressure difference and the ideal value of the internal and external pressure difference;
it should be noted that after the ideal value of the internal and external pressure difference is determined, the parameters of the negative pressure adsorption device are adjusted to make the internal and external pressure difference generated by the negative pressure adsorption device reach the ideal value of the internal and external pressure difference, and therefore, feedback influence is generated on data detected by the gyroscope, the pressure difference meter and the infrared sensor, so that closed-loop control is realized, and the GIS maintenance robot is ensured to be stably and reliably adsorbed in the inner wall of the GIS pipeline in the maintenance process.
Further, calculating the critical adsorption force of the GIS maintenance robot according to the circumferential deflection angle specifically comprises:
calculating the critical adsorption force of the GIS overhauling robot through a first preset formula;
the first preset formula is specifically as follows:
in the formula, FGMu is an equivalent friction coefficient and theta is a circumferential deflection angle for the gravity of the GIS overhauling robot.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an absorption force control device of a GIS inspection robot in an embodiment of the present application, as shown in fig. 3, specifically, the absorption force control device includes:
the first acquisition unit 301 is used for acquiring a circumferential deflection angle of the GIS overhauling robot detected by the gyroscope;
a second obtaining unit 302, configured to obtain a real-time internal and external pressure difference detected by the pressure difference meter and a real-time adsorption force calculated according to the real-time internal and external pressure difference;
the third acquiring unit 303 is used for acquiring the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of the GIS pipeline, which is detected by the infrared sensor;
the calculating unit 304 is used for calculating the critical adsorption force of the GIS overhauling robot according to the circumferential deflection angle;
the comparison unit 305 is configured to determine an ideal value of the internal-external pressure difference according to a preset reference table of the adsorption force, the internal-external pressure difference and the circumferential deflection angle when the absolute value of the difference between the real-time adsorption force and the critical adsorption force is greater than a preset threshold;
and the adjusting unit 306 is used for adjusting the internal and external pressure difference generated by the negative pressure adsorption device to reach the internal and external pressure difference ideal value according to the real-time internal and external pressure difference and the internal and external pressure difference ideal value.
Further, the calculating unit 304 specifically includes:
calculating the critical adsorption force of the GIS maintenance robot through a first preset formula;
the first preset formula is specifically as follows:
in the formula, FGFor GIS overhaulMu is an equivalent friction coefficient and theta is a circumferential deflection angle;
it should be noted that the first preset formula of the present application can be derived from the stress analysis graph of the GIS inspection robot shown in fig. 4 when the GIS inspection robot moves along the inner wall of the GIS pipeline, wherein the gravity F of the GIS inspection robotGThe equivalent friction coefficient μ is a parameter preset and stored in the controller.
The embodiment of the application provides a GIS overhauls robot adsorption control equipment, and equipment includes treater and memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the method according to the second embodiment described above according to the instructions in the program code.
The embodiment of the present application provides a computer-readable storage medium, which is used for storing a program code, and the program code is used for executing the method of the second embodiment.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (8)
1. A GIS service robot, comprising:
the device comprises a body, a sensing system, a negative pressure adsorption device arranged at the bottom of the body and a controller arranged in the body;
the sensing system comprises a gyroscope arranged in the body, a differential pressure gauge arranged at the bottom of the body and an infrared sensor;
the gyroscope is used for detecting the circumferential deflection angle of the GIS overhauling robot in real time;
the differential pressure meter is used for detecting real-time internal and external differential pressure in real time and calculating to obtain real-time adsorption force according to the real-time internal and external differential pressure;
the infrared sensor is used for detecting the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of the GIS pipeline in real time;
the controller is respectively connected with the gyroscope, the differential pressure gauge, the infrared sensor and the negative pressure adsorption device, and is used for determining the critical adsorption force of the GIS overhauling robot and an ideal value of internal and external pressure difference to be adjusted, and controlling the negative pressure adsorption device to adjust the internal and external pressure difference according to the ideal value of the internal and external pressure difference, so that the GIS overhauling robot is adsorbed on the inner wall of the GIS pipeline;
the critical adsorption force is calculated by a first preset formula and the circumferential deflection angle, wherein the first preset formula specifically comprises:
in the formula, FGMu is an equivalent friction coefficient and theta is a circumferential deflection angle for the gravity of the GIS overhauling robot;
the configuration process of the ideal value of the internal and external pressure difference comprises the following steps: and when the absolute value of the difference value between the real-time adsorption force and the critical adsorption force is larger than a preset threshold value, determining an ideal value of the internal and external pressure difference according to a preset adsorption force-internal and external pressure difference-circumferential deflection angle comparison table.
2. The GIS inspection robot of claim 1, wherein the negative pressure suction device comprises a vacuum generating device, a motor drive plate, and a gap retaining device;
the first end of the gap maintaining device is fixedly connected with the vacuum generating device, the second end of the gap maintaining device is in rolling contact with the inner wall of the GIS pipeline, and the first end and the second end of the gap maintaining device are elastically connected through a spring;
the control end of the motor driving plate is connected with the controller;
the driving end of the motor driving plate is connected with the vacuum generating device and used for changing the internal and external pressure difference of the vacuum generating device.
3. The GIS service robot of claim 2, wherein a gap height between the second end of the gap maintaining device and the inner wall of the GIS pipe is in a range of 5-10 mm.
4. GIS service robot according to claim 1, characterized in that the gyroscope is in particular a three-axis gyroscope.
5. A GIS service robot adsorption force control method applied to the GIS service robot of any one of claims 1 to 4, the method comprising:
acquiring a circumferential deflection angle of the GIS maintenance robot detected by a gyroscope;
acquiring real-time internal and external pressure difference detected by a pressure difference meter and real-time adsorption force calculated according to the real-time internal and external pressure difference;
acquiring the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of a GIS pipeline, which is detected by an infrared sensor;
calculating the critical adsorption force of the GIS overhauling robot according to the circumferential deflection angle and a first preset formula, wherein the first preset formula specifically comprises the following steps:
in the formula, FGMu is an equivalent friction coefficient and theta is a circumferential deflection angle for the gravity of the GIS overhauling robot;
when the absolute value of the difference value between the real-time adsorption force and the critical adsorption force is larger than a preset threshold value, determining an ideal value of the internal and external pressure difference according to a preset adsorption force-internal and external pressure difference-circumferential deflection angle comparison table;
and adjusting the internal and external pressure difference generated by the negative pressure adsorption device to reach the ideal value of the internal and external pressure difference according to the real-time internal and external pressure difference and the ideal value of the internal and external pressure difference.
6. The utility model provides a GIS overhauls robot adsorption affinity controlling means which characterized in that includes:
the first acquisition unit is used for acquiring a circumferential deflection angle of the GIS overhauling robot detected by the gyroscope;
the second acquisition unit is used for acquiring real-time internal and external pressure difference detected by the pressure difference meter and real-time adsorption force calculated according to the real-time internal and external pressure difference;
the third acquisition unit is used for acquiring the real-time gap height between the bottom of the GIS overhauling robot and the inner wall of the GIS pipeline, which is detected by the infrared sensor;
the calculation unit is used for calculating the critical adsorption force of the GIS overhauling robot according to the circumferential deflection angle and a first preset formula, wherein the first preset formula specifically comprises the following steps:
in the formula, FGMu is an equivalent friction coefficient, and theta is a circumferential deflection angle, wherein mu is the gravity of the GIS overhauling robot;
the comparison unit is used for determining an ideal value of the internal and external pressure difference according to a preset adsorption force-internal and external pressure difference-circumferential deflection angle comparison table when the absolute value of the difference value between the real-time adsorption force and the critical adsorption force is larger than a preset threshold value;
and the adjusting unit is used for adjusting the internal and external pressure difference generated by the negative pressure adsorption device to reach the internal and external pressure difference ideal value according to the real-time internal and external pressure difference and the internal and external pressure difference ideal value.
7. A GIS inspection robot attraction control device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the GIS service robot attraction control method of claim 5 according to instructions in the program code.
8. A computer-readable storage medium characterized in that the computer-readable storage medium stores program code for executing the GIS service robot adsorption force control method of claim 5.
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