CN110849357A - Micro robot fish attitude positioning method for oil-immersed transformer - Google Patents

Micro robot fish attitude positioning method for oil-immersed transformer Download PDF

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Publication number
CN110849357A
CN110849357A CN201910971813.8A CN201910971813A CN110849357A CN 110849357 A CN110849357 A CN 110849357A CN 201910971813 A CN201910971813 A CN 201910971813A CN 110849357 A CN110849357 A CN 110849357A
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transformer
robot fish
micro robot
pose
micro
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CN110849357B (en
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贺欣
张应田
刘力卿
王伟
张弛
郗晓光
张鑫
李雪
冯军基
马昊
魏菊芳
姚创
段明辉
季洪鑫
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TIANJIN ELECTRIC POWER TECHNOLOGY DEVELOPMENT Co Ltd
Electric Power Research Institute of State Grid Tianjin Electric Power Co Ltd
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TIANJIN ELECTRIC POWER TECHNOLOGY DEVELOPMENT Co Ltd
Electric Power Research Institute of State Grid Tianjin Electric Power Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a micro robot fish attitude positioning method for an oil-immersed transformer, which is technically characterized by comprising the following steps: measuring the acceleration and the angular acceleration of the micro robot fish according to an inertial navigation sensor arranged in the micro robot fish of the transformer, and performing secondary integration on the acceleration and the angular acceleration to obtain the inertial navigation pose of the micro robot fish of the transformer; detecting ultrasonic signals and electromagnetic wave signals periodically sent by the transformer micro robotic fish by using an acoustic-electric positioning sensor; and calculating the accurate pose of the micro robot fish of the transformer according to the ultrasonic signals and the electromagnetic wave signals, and correcting the pose of the inertial navigation of the micro robot fish of the transformer by using the accurate pose to finally obtain the current pose of the micro robot fish of the transformer. The invention has reasonable design, can effectively reduce the accumulated error of the inertial navigation of the micro robot fish of the transformer caused by time, and ensures that the pose of the micro robot fish of the transformer is always within the specified error range while reducing the number of the positioning sensors arranged on the body of the transformer.

Description

Micro robot fish attitude positioning method for oil-immersed transformer
Technical Field
The invention belongs to the technical field of fault detection of oil-immersed transformers, and particularly relates to a micro robot fish attitude positioning method for an oil-immersed transformer.
Background
In order to effectively detect the fault position and the fault type in the large transformer, the interior of the transformer is visually observed by using the micro robot fish of the transformer, and the existence of abnormality and the like of devices in the transformer can be intuitively checked. Because the large transformer has a huge volume and a complex internal structure, how to realize accurate pose positioning of the micro robot fish of the transformer is the key for completing tasks of the robot fish in the detection process of the micro robot fish of the transformer. Because the transformer is completely sealed by the metal shell, the pose of the micro robot fish of the transformer is difficult to be positioned by adopting conventional detection equipment such as a laser radar, a vision camera, a GPS and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for positioning the posture of the micro robot fish of the oil-immersed transformer, which corrects the accumulated error generated by inertial navigation through accurate data obtained in an acoustic-electric combined positioning mode and ensures that the posture of the micro robot fish of the transformer obtained at present is always in a specified error range.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a method for positioning the attitude of a micro robot fish of an oil-immersed transformer comprises the following steps:
step 1, measuring the acceleration and the angular acceleration of the micro robot fish according to an inertial navigation sensor arranged in the micro robot fish of the transformer, and performing secondary integration on the measured acceleration and the angular acceleration to obtain the inertial navigation pose of the micro robot fish of the transformer;
step 2, when the micro robot fish of the transformer moves to the position near an acoustic-electric combined positioning sensor arranged on the transformer body, detecting ultrasonic signals and electromagnetic wave signals periodically sent by the micro robot fish of the transformer by using the acoustic-electric positioning sensor;
and 3, establishing a pose calculation model of the micro robot fish of the transformer, calculating the accurate pose of the micro robot fish of the transformer according to the ultrasonic signals and the electromagnetic wave signals measured in the step 2, and correcting the pose of the inertial navigation of the micro robot fish of the transformer by using the accurate pose to finally obtain the current pose of the micro robot fish of the transformer.
Further, the inertial navigation sensor installed inside the transformer micro robotic fish comprises an angular velocity meter and a gyroscope.
Further, the acoustic-electric positioning sensor comprises an ultrasonic array and an antenna probe, wherein the ultrasonic array is arranged on a concentric circle of the acoustic-electric combined positioning sensor; the antenna probe is arranged at the circle center of the acoustic-electric combined positioning sensor and is in a threaded shape.
Further, the ultrasonic array is composed of three piezoelectric ceramics and arranged in an equi-triangular shape, the piezoelectric constant of the piezoelectric ceramics is 5C/N, the dielectric loss is 0.9%, and the center frequency is 500 kHz.
Further, the specific implementation method of step 3 is as follows:
establishing a pose calculation model of the micro robot fish of the transformer, and calculating a pitch angle a, a yaw angle β and a roll angle gamma of the micro robot fish of the transformer according to the following formula:
when z iss2>zs1Time of flight
Figure BDA0002232345600000011
When z iss2<zs1Time of flight
Figure BDA0002232345600000021
When z iss3>zs4Time of flight
Figure BDA0002232345600000022
When z iss3<zs4Time of flight
Figure BDA0002232345600000023
When x iss1>xs2Time of flight
Figure BDA0002232345600000024
When x iss1<xs2Time of flight
Figure BDA0002232345600000025
In the formula, xs1,ys1,zs1、xs2,ys2,zs2、xs3,ys3,zs3、xs4,ys4,zs4Four signal sources P of transformer micro robot fish respectively1、P2、P3、P4The spatial location of (a);
the three-dimensional space position O of the micro robot fish of the transformer in the transformer is calculated according to the following formulawf(xwf,ywf,zwf)：
Owf＝(P1+P2)/2
Finally, the current pose (x) of the micro robot fish of the transformer is obtainedwf,ywf,zwf,а,β,γ)。
The invention has the advantages and positive effects that:
1. according to the invention, by establishing the attitude calculation model of the intelligent patrol robot fish in the transformer and combining the ultrasonic signals and electromagnetic wave signals which are detected by the acoustic-electric positioning sensors and are periodically sent by the micro robot fish of the transformer, the accumulated error of the inertial navigation of the micro robot fish of the transformer caused by time can be effectively reduced, the number of the positioning sensors arranged on the transformer body is reduced, the pose of the micro robot fish of the transformer is ensured to be always within the specified error range, and the accurate positioning function of the pose of the micro robot fish of the transformer is realized.
2. The invention adopts a combined positioning mode formed by inertial navigation and acoustic-electric positioning of the micro robot fish of the transformer, when the micro robot fish of the transformer is far away from the acoustic-electric positioning sensor, the micro robot fish of the transformer adopts the inertial navigation, and when the micro robot fish of the transformer moves to the vicinity of the acoustic-electric combined positioning sensor arranged on the transformer body, the accurate pose of the micro robot fish of the transformer is obtained by an acoustic-electric positioning method to correct the pose of the inertial navigation of the micro robot fish of the transformer, so as to reduce the number of the positioning sensors arranged on the transformer body as much as possible and ensure that the pose of the micro robot fish of the transformer is always within a specified error range.
Drawings
FIG. 1 is a flow chart of a positioning method of the present invention;
FIG. 2 is a schematic diagram of the structure of the micro robotic fish of the transformer of the present invention;
wherein: 1-Signal Source P12-signal source P23-signal source P34-signal source P4。
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.
A method for positioning the attitude of a micro robot fish of an oil-immersed transformer is shown in figures 1 and 2, and comprises the following steps:
step 1, measuring the acceleration and the angular acceleration of the micro robot fish according to an inertial navigation sensor arranged in the micro robot fish of the transformer, and performing secondary integration on the measured acceleration and the angular acceleration to obtain the position and the posture of the inertial navigation of the micro robot fish of the transformer so as to realize the inertial navigation of the micro robot fish of the transformer.
In this embodiment, the inertial navigation sensors mounted inside the transformer micro robotic fish may include an angular velocity meter and a gyroscope.
And 2, when the micro robot fish of the transformer moves to the position near the sound-electricity combined positioning sensor arranged on the transformer body, detecting ultrasonic signals and electromagnetic wave signals periodically sent by the micro robot fish of the transformer by using the sound-electricity positioning sensor.
The sound-electricity combined positioning sensor arranged on the transformer body comprises an ultrasonic array and an antenna probe, wherein the ultrasonic array is arranged on a concentric circle of the sound-electricity combined positioning sensor and consists of three piezoelectric ceramics, the piezoelectric constant of the piezoelectric ceramics is 5C/N, the dielectric loss is 0.9 percent, the central frequency is 500kHz, and the piezoelectric ceramics are arranged in an equilateral triangle. The antenna probe is arranged at the circle center of the acoustic-electric combined positioning sensor and is in a threaded shape.
And 3, establishing a pose calculation model of the micro robot fish of the transformer, calculating the accurate pose of the micro robot fish of the transformer according to the ultrasonic signals and the electromagnetic wave signals measured in the step 2, correcting the pose of the inertial navigation of the micro robot fish of the transformer by using the accurate pose, finally obtaining the current pose of the micro robot fish of the transformer, and ensuring that the pose of the micro robot fish of the transformer is always within a specified error range.
The pose calculation model of the transformer micro robot fish mainly comprises position calculation and pose calculation of the transformer micro robot fish, wherein the pose of the transformer micro robot fish comprises a pitch angle a, a yaw angle β and a roll angle gamma, and the position calculation and the pose calculation are respectively as follows:
when z iss2>zs1Time of flight
Figure BDA0002232345600000031
When z iss2<zs1Time of flight
Figure BDA0002232345600000032
When z iss3>zs4Time of flight
Figure BDA0002232345600000033
When z iss3<zs4Time of flight
Figure BDA0002232345600000034
When x iss1>xs2Time of flight
When x iss1<xs2Time of flight
Figure BDA0002232345600000036
In the formula (x)s1,ys1,zs1)、(xs2,ys2,zs2)、(xs3,ys3,zs3)、(xs4,ys4,zs4) Four of micro robot fish of transformerA signal source P1、P2、P3、P4As shown in fig. 2, the four signal sources are respectively disposed at the front end, the rear end, and the left and right ends of the bottom of the transformer micro robotic fish.
Three-dimensional space position O of micro robot fish of transformer in transformerwf(xwf,ywf,zwf) Comprises the following steps:
Owf＝(P1+P2)/2 (7)
when the micro robot fish of the transformer moves to the vicinity of the acoustic-electric combined positioning sensor, the piezoelectric probe and the ultrahigh frequency probe on the acoustic-electric combined positioning sensor detect a signal source sent by the micro robot fish of the transformer. The current pose (x) of the micro robot fish of the transformer can be determined according to the formula (1) to the formula (7) by the measured electric signals of the ultrasonic signalswf,ywf,zwf,а,β,γ)。
Nothing in this specification is said to apply to the prior art.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.

Claims (5)

1. A method for positioning the attitude of a micro robot fish of an oil-immersed transformer is characterized by comprising the following steps:
step 1, measuring the acceleration and the angular acceleration of the micro robot fish according to an inertial navigation sensor arranged in the micro robot fish of the transformer, and performing secondary integration on the measured acceleration and the angular acceleration to obtain the inertial navigation pose of the micro robot fish of the transformer;
step 2, when the micro robot fish of the transformer moves to the position near an acoustic-electric combined positioning sensor arranged on the transformer body, detecting ultrasonic signals and electromagnetic wave signals periodically sent by the micro robot fish of the transformer by using the acoustic-electric positioning sensor;
and 3, establishing a pose calculation model of the micro robot fish of the transformer, calculating the accurate pose of the micro robot fish of the transformer according to the ultrasonic signals and the electromagnetic wave signals measured in the step 2, and correcting the pose of the inertial navigation of the micro robot fish of the transformer by using the accurate pose to finally obtain the current pose of the micro robot fish of the transformer.
2. The method for positioning the attitude of the micro robot fish of the oil-immersed transformer according to claim 1, wherein the method comprises the following steps: the inertial navigation sensor installed inside the transformer micro robotic fish comprises an angular velocity meter and a gyroscope.
3. The method for positioning the attitude of the micro robot fish of the oil-immersed transformer according to claim 1, wherein the method comprises the following steps: the acoustic-electric positioning sensor comprises an ultrasonic array and an antenna probe, and the ultrasonic array is arranged on a concentric circle of the acoustic-electric combined positioning sensor; the antenna probe is arranged at the circle center of the acoustic-electric combined positioning sensor and is in a threaded shape.
4. The oil-immersed transformer micro-robot fish attitude positioning method according to claim 3, characterized in that: the ultrasonic array is composed of three piezoelectric ceramics and arranged in an equi-triangular shape, the piezoelectric constant of the piezoelectric ceramics is 5C/N, the dielectric loss is 0.9%, and the center frequency is 500 kHz.
5. The method for positioning the attitude of the micro robot fish of the oil-immersed transformer according to claim 1, wherein the method comprises the following steps: the specific implementation method of the step 3 is as follows:
establishing a pose calculation model of the micro robot fish of the transformer, and calculating a pitch angle a, a yaw angle β and a roll angle gamma of the micro robot fish of the transformer according to the following formula:
when z iss2>zs1Time of flight
Figure FDA0002232345590000011
When z iss2<zs1Time of flight
Figure FDA0002232345590000012
When z iss3>zs4Time of flight
Figure FDA0002232345590000013
When z iss3<zs4Time of flight
Figure FDA0002232345590000014
When x iss1>xs2Time of flight
When x iss1<xs2Time of flight
Figure FDA0002232345590000016
In the formula, xs1,ys1,zs1、xs2,ys2,zs2、xs3,ys3,zs3、xs4,ys4,zs4Four signal sources P of transformer micro robot fish respectively1、P2、P3、P4The spatial location of (a);
the three-dimensional space position O of the micro robot fish of the transformer in the transformer is calculated according to the following formulawf(xwf,ywf,zwf)：
Owf＝(P1+P2)/2
Finally, the current pose (x) of the micro robot fish of the transformer is obtainedwf,ywf,zwf,а,β,γ)。
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CN111638722A (en) * 2020-05-12 2020-09-08 国网天津市电力公司电力科学研究院 Miniature bionic fish attitude control method for oil-immersed transformer
CN111751787A (en) * 2020-06-10 2020-10-09 国网天津市电力公司电力科学研究院 Transformer robot fish positioning method based on ultrasonic array hyperbolic algorithm
CN112130115A (en) * 2020-08-11 2020-12-25 国网天津市电力公司电力科学研究院 Transformer micro robotic fish positioning imaging method based on narrow-band ultrasonic beam formation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111638722A (en) * 2020-05-12 2020-09-08 国网天津市电力公司电力科学研究院 Miniature bionic fish attitude control method for oil-immersed transformer
CN111638722B (en) * 2020-05-12 2023-04-28 国网天津市电力公司电力科学研究院 Miniature bionic fish attitude control method for oil immersed transformer
CN111751787A (en) * 2020-06-10 2020-10-09 国网天津市电力公司电力科学研究院 Transformer robot fish positioning method based on ultrasonic array hyperbolic algorithm
CN111751787B (en) * 2020-06-10 2024-04-19 国网天津市电力公司电力科学研究院 Transformer robot fish positioning method based on ultrasonic array hyperbolic algorithm
CN112130115A (en) * 2020-08-11 2020-12-25 国网天津市电力公司电力科学研究院 Transformer micro robotic fish positioning imaging method based on narrow-band ultrasonic beam formation
CN112130115B (en) * 2020-08-11 2024-05-24 国网天津市电力公司电力科学研究院 Transformer micro-robot fish positioning imaging method based on narrow-band ultrasonic beam forming

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