CN110940420B - Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities - Google Patents
Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities Download PDFInfo
- Publication number
- CN110940420B CN110940420B CN201911113663.3A CN201911113663A CN110940420B CN 110940420 B CN110940420 B CN 110940420B CN 201911113663 A CN201911113663 A CN 201911113663A CN 110940420 B CN110940420 B CN 110940420B
- Authority
- CN
- China
- Prior art keywords
- inspection robot
- position information
- positioning
- temperature
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 130
- 230000002159 abnormal effect Effects 0.000 title description 6
- 239000000523 sample Substances 0.000 claims abstract description 17
- 239000002245 particle Substances 0.000 claims description 48
- 238000006073 displacement reaction Methods 0.000 claims description 46
- 238000005259 measurement Methods 0.000 claims description 44
- 238000000034 method Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 11
- 239000011163 secondary particle Substances 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000009529 body temperature measurement Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 230000015556 catabolic process Effects 0.000 description 4
- 238000005315 distribution function Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000006731 degradation reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
-
- 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
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/086—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution networks, i.e. with interconnected conductors
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The application discloses a temperature anomaly positioning system that is used for miniature robot of patrolling and examining of narrow pipe chamber includes: the inspection robot and the control terminal; the infrared temperature measuring probe on the inspection robot is arranged in front of the body of the inspection robot, the infrared temperature measuring probe is used for measuring the measured temperature of a cable in the front area of the inspection robot, the positioning system is arranged on the body of the inspection robot, the positioning system is used for positioning the inspection robot to generate position information, and the inspection robot sends the measured temperature and the position information to the control terminal; and the control terminal is used for positioning the position of the inspection robot in the cable duct bank according to the received position information and marking the measured temperature on the position when the received measured temperature is judged to be greater than or equal to the preset temperature threshold value. Through the technical scheme in this application, realize not destroying the independent inspection of narrow pipe intracavity cable fault point of calandria structure, very big reduction patrol and examine the cost, improve and patrol and examine efficiency.
Description
Technical Field
The application relates to the technical field of current detection devices, in particular to a temperature abnormal point positioning system for a miniature inspection robot with a narrow and small tube cavity.
Background
In case of a current overload of the cable, too high temperatures can lead to a drastic degradation of the insulation material and even to a breakdown. The light person affects the signal transmission and damages the equipment, and the heavy person threatens the personal safety and even brings huge loss to the power system. Therefore, the cable line periodic inspection and the accurate positioning of the dead spots are very important.
In the prior art, the traditional manual inspection mode is still adopted for the inspection of the cable line, namely, an inspector holds the infrared imager to detect the temperature of the dead pixel, so that the high-temperature dead pixel is found, and the fault of the cable line is eliminated by entering the dead pixel.
The manual inspection method has extremely low working efficiency and poor reliability, and particularly for cables in narrow pipe cavities, on the premise of not damaging the pipe arrangement, damaged points are difficult to position and remove faults.
Disclosure of Invention
The purpose of this application lies in: the independent inspection of the damaged points of the cable in the narrow pipe cavity without damaging the structure of the pipe arrangement is realized, the inspection cost is greatly reduced, and the inspection efficiency is improved.
The technical scheme of the application is as follows: the utility model provides a temperature outlier positioning system for miniature robot of patrolling and examining of narrow lumen, positioning system includes: the inspection robot and the control terminal; the inspection robot comprises an infrared temperature measuring probe and a positioning system, the infrared temperature measuring probe is arranged in front of a machine body of the inspection robot and used for measuring the measured temperature of a cable in the front area of the inspection robot, the positioning system is arranged on the machine body of the inspection robot and used for positioning the inspection robot to generate position information, and the inspection robot sends the measured temperature and the position information to a control terminal; and the control terminal is used for positioning the position of the inspection robot in the cable duct bank according to the received position information when the received measured temperature is judged to be greater than or equal to the preset temperature threshold value, marking the measured temperature at the position and generating alarm information.
In any one of the above technical solutions, further, the positioning system specifically includes: the system comprises a dragging measuring device, a coding measuring device and an inertial navigation system; the device comprises a dragging and measuring device, a positioning device and a control device, wherein a measuring rope of the dragging and measuring device is fixedly connected to the rear part of a machine body of the inspection robot, scales are arranged on the measuring rope, and the dragging and measuring device is used for carrying out first positioning on the inspection robot according to the scales and the length of the machine body of the inspection robot and determining first position information; the code measuring device comprises a counting unit and an operation unit, the code measuring device is arranged below the body of the inspection robot and positioned on the inner side of a tire of the inspection robot, the counting unit is connected with the tire through gear transmission, the counting unit is used for generating counting pulses along with the rotation of the tire, and the operation unit is used for determining second position information of the inspection robot according to the counting pulses and the circumference of the tire; the inertial navigation system is used for filtering the calculated displacement measurement value of the inspection robot by adopting a particle filtering algorithm, and recording the filtered displacement measurement value as third position information; the control terminal is further used for positioning the position of the inspection robot in the cable duct bank according to the first position information, the second position information and the third position information by adopting a weighting algorithm.
In any one of the above technical solutions, further, the inertial navigation system includes a gyroscope and an accelerometer, and is characterized in that the particle filtering algorithm specifically includes:
according to the attitude and the course of the inspection robot determined by the gyroscope, a navigation coordinate system is established, time is integrated according to the acceleration of the inspection robot under the navigation coordinate system measured by the accelerometer, and a displacement measurement value X of the inspection robot is calculatediWherein i is 1, 2, …, k, k is the current time;
constructing a state equation and an observation equation in the traveling process of the inspection robot, extracting N displacement measurement values from k displacement measurement values existing at the current moment k according to importance distribution, and generating an initial particle set { X }i}i＝1,2,…,NWherein each of the extracted displacement measurements XiIs recorded as initial particle set { Xi}i＝1,2,…,NA particle of (a);
computing an initial set of particles { Xi}i＝1,2,…,NWhen the calculated weight is judged to be smaller than a preset threshold value, the corresponding particles are removed, and the number of the particles is extracted and removed again from the residual k-N displacement measurement valuesThe same amount of displacement measurement, with the retained displacement measurement, constitutes the set of secondary particles { X'i}i＝1,2,…,NRecalculating weight value of each particle and eliminating until secondary particle set { X'i}i＝1,2,…,NThe weight value of each particle is smaller than a preset threshold value, and secondary particles are collected to form a set of { X'i}i＝1,2,…,NRecording as a set of displacement particles;
and performing mean value calculation according to the displacement particle set, and recording a mean value calculation result as third position information.
In any one of the above technical solutions, further, a weighting algorithm is adopted to locate the position of the inspection robot in the cable duct bank according to the first position information, the second position information, and the third position information, and specifically includes: calculating the difference value between two kinds of position information in the first position information, the second position information and the third position information at the current moment, and calculating the sum value of the difference values of any one kind of position information, wherein the sum value comprises a first sum value, a second sum value and a third sum value; selecting a position weight corresponding to the maximum value in the sum, revising the selected position weight according to a first revision formula and an initial weight, and revising the rest position weights according to a second revision formula and the initial weight; and positioning the position of the inspection robot in the cable duct bank by adopting a weighting algorithm according to the revised position weight, the first position information, the second position information and the third position information.
In any one of the above technical scheme, further, the robot of patrolling and examining still includes: a digital-to-analog conversion unit; the digital-to-analog conversion unit is used for converting the measured temperature detected by the infrared temperature measurement probe from analog quantity to digital quantity and sending the converted measured temperature to the control terminal.
Among any one of the above-mentioned technical scheme, further, patrol and examine the robot, still include: a wireless transmitting and receiving module; the wireless transmitting and receiving module is arranged on a robot body of the inspection robot and used for receiving an operation instruction of the control terminal and sending the measured temperature and the position information to the control terminal, wherein the operation instruction comprises a start-stop instruction, an advance instruction and a retreat instruction.
The beneficial effect of this application is:
1. the automatic inspection robot has the advantages that the automatic inspection in the narrow pipe cavity without damaging the pipe arrangement structure is realized for the first time, the inspection cost is greatly reduced, the inspection efficiency is improved, and the economic benefit of the inspection robot in the pipe arrangement cable detection is increased.
2. The particle filter algorithm is applied to eliminating the interference of the collected nonlinear information, and the three displacement measurement methods are combined with dragging measurement and coding measurement, so that the influence of interference on the robot positioning in the measurement process is avoided, and the accuracy of the positioning of the miniature inspection robot is improved.
Drawings
The advantages of the above and/or additional aspects of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow diagram of a temperature anomaly locating system for a narrow lumen micro-inspection robot according to one embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
As shown in fig. 1, the present embodiment provides a temperature anomaly locating system for a narrow lumen micro inspection robot, the locating system comprising: the inspection robot and the control terminal;
the inspection robot comprises an infrared temperature probe and a positioning system, the infrared temperature probe is arranged in front of a machine body of the inspection robot, and the infrared temperature probe is used for measuring the measurement temperature of a cable in the front area of the inspection robot.
Specifically, this embodiment has used infrared temperature probe to carry out real-time supervision to cable temperature state, and the dead pixel temperature analog signal who is gathered can be converted into temperature digital signal by the digital analog conversion unit who links to each other with infrared temperature probe, and then sends to control terminal, carries out data processing on next step.
The inspection robot in the embodiment can be further provided with a camera, when the inspection robot enters an inspection mode, the infrared temperature probe can detect a place with abnormal temperature at a certain distance, and the inspection robot transmits the condition of the place back to the control terminal through the camera. In the embodiment, a non-contact temperature measuring mode of infrared temperature measurement is used, instead of a contact temperature measuring mode of a traditional thermocouple and the like, because no contact exists, no physical influence is generated on the cable, and the non-contact temperature measuring method can be used for temperature measurement at a certain distance.
Further, the robot of patrolling and examining still includes: a digital-to-analog conversion unit; the digital-to-analog conversion unit is used for converting the measured temperature detected by the infrared temperature measurement probe from analog quantity to digital quantity and sending the converted measured temperature to the control terminal.
Specifically, in this embodiment, an upper control machine is adopted as a control terminal, and the received temperature digital signal is processed to obtain a final temperature monitoring result of each part of the cable in the pipe bank, and an alarm is given when the temperature result is abnormal.
The positioning system is arranged on the body of the inspection robot and used for positioning the inspection robot to generate position information, and the inspection robot sends the measured temperature and the position information to the control terminal;
specifically, the inspection robot combines an inertial navigation system, an encoder system and a dragging measurement system to perform positioning, and the positioning accuracy of the robot is effectively improved. Because of the encoder if the gear is worn, the measured displacement is bigger than the actual value, and the accumulated error of the inertial navigation system may be bigger or smaller, and the combination of different measuring modes can play a role of mutual correction, and the error direction can not be enabled to be the same, so that the error is increased.
Further, the positioning system specifically includes: the system comprises a dragging measuring device, a coding measuring device and an inertial navigation system;
the device comprises a dragging and measuring device, a positioning device and a control device, wherein a measuring rope of the dragging and measuring device is fixedly connected to the rear part of a machine body of the inspection robot, scales are arranged on the measuring rope, and the dragging and measuring device is used for carrying out first positioning on the inspection robot according to the scales and the length of the machine body of the inspection robot and determining first position information;
specifically, the measuring rope that pulls measuring device directly carries out the physical connection with patrolling and examining the robot, because the length of cable calandria is certain, consequently, patrols and examines the robot and patrol and examine length fixed. After the inspection robot enters the cable arranging pipe, distance information, namely first position information, of the inspection robot can be obtained according to the residual length of the measuring rope. The rope belongs to a non-rigid structure, has different states of looseness and tightness, generates larger error under the condition of looseness, and can improve the measurement precision by combining with the following two measurement methods.
The code measuring device comprises a counting unit and an operation unit, the code measuring device is arranged below the body of the inspection robot and positioned on the inner side of a tire of the inspection robot, the counting unit is connected with the tire through gear transmission, the counting unit is used for generating counting pulses along with the rotation of the tire, and the operation unit is used for determining second position information of the inspection robot according to the counting pulses and the circumference of the tire;
specifically, encoder measuring device is connected through gear drive with patrolling and examining the robot tire, and the rotatory round of tire can output fixed number square wave form formula pulse, counts the pulse and can try to get the migration distance backward, carries out the differential to the unit interval and can try to get the rotational speed, can do the second positional information who patrols and examines the robot with the migration distance record.
And the servo motor in the inspection robot and the encoder measuring device transmit displacement data through gear engagement, wherein the servo motor is used for controlling the advancing direction and speed of the inspection robot. The input end of the servo motor is provided with three digital input ports which are respectively connected with forward rotation, reverse rotation and PWM speed control signals. The forward rotation port input is 1, the reverse rotation port input is 0, the PWM input is 1, the inspection robot runs in the forward direction, and the forward rotation port input and the reverse rotation port input are opposite, the inspection robot runs in the reverse direction. The PWM port controls the time length of 1 input in one period, namely the movement distance and the output force of the servo motor in a certain period can be controlled, and the purpose of controlling the walking distance and the walking speed of the inspection robot is achieved.
The inertial navigation system is used for filtering the calculated displacement measurement value of the inspection robot by adopting a particle filtering algorithm, recording the filtered displacement measurement value as third position information so as to solve the problem of serious nonlinearity of the acquired position information data, eliminating interference as much as possible and reducing errors;
further, the inertial navigation system comprises a gyroscope capable of measuring the attitude and an accelerometer capable of measuring the position, wherein an ARM processor of a particle filter algorithm is built in the inertial navigation system, and the particle filter algorithm is adopted to calculate third position information, and the method specifically comprises the following steps:
the method comprises the steps of initializing an inertial navigation system, giving initial position and speed information of the inspection robot, calibrating an instrument, and measuring instrument offset and bias data, wherein a gyroscope and an accelerometer are inertial instruments, and after the inertial instrument is installed on the inspection robot, the movement of the inspection robot can generate large errors, so that the instrument errors need to be compensated in an ARM processor, and the method can be realized by adopting the existing error compensation method without repeated description.
Step 1, constructing a navigation coordinate system according to the attitude and the course of the inspection robot determined by the gyroscope, integrating time according to the acceleration of the inspection robot under the navigation coordinate system measured by the accelerometer, and calculating the displacement measurement value X of the inspection robotiWherein i is 1, 2, …, k, k is the current time;
specifically, the angular speed output by the gyroscope is used for solving a coordinate system and a direction, the posture and the course of the inspection robot are the direction of the coordinate system of the inspection robot relative to the geographic coordinate system, the gyroscope data are provided for a posture matrix, and a navigation coordinate system is constructed after calculation.
The output of the accelerometer is transformed to a navigation coordinate system after coordinate transformation, when information such as speed, position and the like is calculated, the acceleration measured by the accelerometer is integrated with time to obtain speed, and the speed is integrated with time again to obtain a displacement measurement value Xi。
Step 2, constructing a state equation and an observation equation in the traveling process of the inspection robot, and measuring k displacement values { X ] existing at the current moment ki}i＝1,2,…,kIn (2), extracting N displacement measurement values according to the importance distribution to generate an initial particle set { X }i}i＝1,2,…,NWherein each of the extracted displacement measurements XiIs recorded as initial particle set { Xi}i＝1,2,…,NA particle of (a);
specifically, the original sampling distribution in this embodiment is set to satisfy the probability density function, and the importance distribution function q (X) is usedi(i＝1,2,…,N)|Xi(i＝1,2,…,k)) Performing a displacement measurement extraction, wherein the importance distribution function q (X)i(i＝1,2,…,N)|Xi(i＝1,2,…,k)) The calculation formula of (2) is as follows:
step 3, calculating an initial particle set { X }i}i＝1,2,…,NWhen the calculated weight is judged to be smaller than a preset threshold value, the corresponding particles are removed, the displacement measurement values with the same number as the removed particles are extracted from the remaining k-N displacement measurement values again, and the displacement measurement values and the reserved displacement measurement values form a secondary particle set { X'i}i＝1,2,…,NRecalculating weight value of each particle and eliminating until secondary particle set { X'i}i＝1,2,…,NThe weight value of each particle is smaller than a preset threshold value, and secondary particles are collected to form a set of { X'i}i＝1,2,…,NRecording as a set of displacement particles;
specifically, the weight calculation formula is as follows:
in the formula, the value of the parameter σ is 0.623. It should be noted that, since the set of particles formed by the displacement measurement values is extracted, the sum of all the calculated weights may not be equal to 1.
Preferably, the calculated weight is normalized, and the corresponding normalization formula is:
wherein N is 1, 2, …, N.
In this embodiment, the particle filter algorithm inevitably has a particle degradation problem, and a posterior probability density function is used, which results in that the displacement measurement value obtained last cannot be used. In order to solve these problems, the importance distribution function is revised, and the calculation formula of the revised importance distribution function is:
in the formula (I), the compound is shown in the specification,
is the mean value of the particles,
as a particle assistantAnd (4) poor.
The improved particle filtering algorithm enables the updated particle set to contain the latest displacement measurement value so as to be used as the observed quantity of the state equation, and in addition, when the secondary particle set is formed, particles irrelevant to the observed quantity are discarded, the particle weight value relevant to the observed quantity is increased, the problem of particle degradation is solved, and the accuracy of calculating the third position information is further improved.
And 4, performing mean value calculation according to the displacement particle set, and recording a mean value calculation result as third position information.
Specifically, through the above steps, a set containing N displacement measurement values, i.e., a secondary particle set { X'i}i＝1,2,…,NThe mean X of the N displacement measurements is calculated as follows:
X＝(X′1+X′2+…+X′N)/N
therefore, the mean value X may be used as the third position information measured by the inertial navigation system.
And the control terminal is used for positioning the position of the inspection robot in the cable duct bank according to the received position information when the received measured temperature is judged to be greater than or equal to the preset temperature threshold value, marking the measured temperature at the position and generating alarm information.
Specifically, an upper computer monitoring interface is further arranged on the control terminal, if the temperature is over-high, an alarm signal is sent to the upper computer monitoring interface, meanwhile, the current position of the inspection robot is calculated according to the calculated displacement value, and the current position is sent to the upper computer monitoring interface.
The embodiment shows a method for positioning the position of an inspection robot in a cable duct bank, which specifically comprises the following steps: the control terminal is also used for adopting the weighting algorithm, according to first positional information, second positional information and third positional information, fixes a position the robot patrols and examines in the cable calandria, wherein, adopts the weighting algorithm, according to first positional information, second positional information and third positional information, fixes a position the robot patrols and examines in the cable calandria, specifically includes:
step 11, calculating a difference value between two kinds of position information in the three kinds of position information of the first position information, the second position information and the third position information at the current moment, and calculating a sum value of the difference values of any one kind of position information, wherein the sum value comprises a first sum value, a second sum value and a third sum value;
step 12, selecting a position weight corresponding to the maximum value in the sum, revising the selected position weight according to a first revision formula and the initial weight, and revising the rest position weights according to a second revision formula and the initial weight;
and step 13, positioning the position of the inspection robot in the cable duct bank by adopting a weighting algorithm according to the revised position weight, the first position information, the second position information and the third position information.
Specifically, the three types of location information in the present embodiment are labeled as xa、xbAnd xcThe corresponding initial weight is lambda1＝λ2＝λ3When the position x of the cruise robot is 1/3, the calculation formula of the position x of the cruise robot after positioning is as follows:
x＝λ′1xa+λ′2xb+λ′3xc
in formula (II), lambda'wFor the adjusted w-th weight, w is 1, 2, 3.
When the initial weight is adjusted, the difference between any two kinds of position information at the current time, namely the error between various modes, including Δ x, is calculateda1＝|xa-xb|，Δxa2＝|xa-xc|，Δxb1＝|xb-xa|，Δxb2＝|xb-xc|，Δxc1＝|xc-xa|，Δxc2＝|xc-xb|。
Let Δ x bea1+Δxa2＝max{Δxa1+Δxa2,Δxb1+Δxb2,Δxc1+Δxc2I.e. consider xaThe reliability of the current measurement value is not high, so the first correction is adoptedFormulation pair lambda1The adjustment is carried out, and the first revised formula is:
λ′1＝λ1-μ
in the formula, μ is a weight adjustment value.
Using a second revised formula to2And λ3The adjustment is carried out, and the second revised formula is:
λ′2＝λ2+μ/2
λ′3＝λ3+μ/2
it should be noted that, the process of solving the weight in the weighting algorithm in this embodiment may also be performed after the positioning, in this case, the revised weight λ'1、λ′2And λ'3And the method is used for positioning the cruise robot at the next moment.
Further, patrol and examine the robot, still include: a wireless transmitting and receiving module; the wireless transmitting and receiving module is arranged on a robot body of the inspection robot and used for receiving an operation instruction of the control terminal and sending the measured temperature and the position information to the control terminal, wherein the operation instruction comprises a start-stop instruction, an advance instruction and a retreat instruction.
The technical scheme of the application is explained in detail in the above with the help of the attached drawings, and the application provides a temperature abnormal point positioning system for a miniature inspection robot with a narrow and small tube cavity, the inspection robot and a control terminal; the infrared temperature measuring probe on the inspection robot is arranged in front of the body of the inspection robot, the infrared temperature measuring probe is used for measuring the measured temperature of a cable in the front area of the inspection robot, the positioning system is arranged on the body of the inspection robot, the positioning system is used for positioning the inspection robot to generate position information, and the inspection robot sends the measured temperature and the position information to the control terminal; and the control terminal is used for positioning the position of the inspection robot in the cable duct bank according to the received position information and marking the measured temperature on the position when the received measured temperature is judged to be greater than or equal to the preset temperature threshold value. Through the technical scheme in this application, realize not destroying the independent inspection of narrow pipe intracavity cable fault point of calandria structure, very big reduction patrol and examine the cost, improve and patrol and examine efficiency.
The steps in the present application may be sequentially adjusted, combined, and subtracted according to actual requirements.
The units in the device can be merged, divided and deleted according to actual requirements.
Although the present application has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and not restrictive of the application of the present application. The scope of the present application is defined by the appended claims and may include various modifications, adaptations, and equivalents of the invention without departing from the scope and spirit of the application.
Claims (5)
1. A temperature outlier positioning system for a narrow lumen miniature inspection robot, the positioning system comprising: the system comprises an inspection robot, a control terminal, a dragging measurement device, a coding measurement device and an inertial navigation system;
the inspection robot comprises an infrared temperature measuring probe and a positioning system, the infrared temperature measuring probe is arranged in front of a body of the inspection robot and used for measuring the measured temperature of a cable in the area in front of the inspection robot, the positioning system is arranged on the body of the inspection robot and used for positioning the inspection robot to generate position information, and the inspection robot sends the measured temperature and the position information to the control terminal;
the control terminal is used for positioning the position of the inspection robot in the cable duct bank according to the received position information and marking the measured temperature at the position to generate alarm information when the received measured temperature is judged to be greater than or equal to a preset temperature threshold value;
the device comprises a dragging and measuring device, a first positioning device and a second positioning device, wherein a measuring rope of the dragging and measuring device is fixedly connected to the rear of a machine body of the inspection robot, scales are arranged on the measuring rope, and the dragging and measuring device is used for carrying out first positioning on the inspection robot according to the scales and the length of the machine body of the inspection robot and determining first position information;
the code measuring device comprises a counting unit and an arithmetic unit, the code measuring device is arranged below the body of the inspection robot and positioned on the inner side of a tire of the inspection robot, the counting unit is in transmission connection with the tire through a gear, the counting unit is used for generating counting pulses along with the rotation of the tire, and the arithmetic unit is used for determining second position information of the inspection robot according to the counting pulses and the circumference of the tire;
the inertial navigation system is used for filtering the calculated displacement measurement value of the inspection robot by adopting a particle filtering algorithm, and recording the filtered displacement measurement value as third position information;
and the control terminal is also used for positioning the position of the inspection robot in the cable duct bank according to the first position information, the second position information and the third position information by adopting a weighting algorithm.
2. The temperature anomaly locating system for the narrow lumen micro inspection robot according to claim 1, wherein the inertial navigation system comprises a gyroscope and an accelerometer, and wherein the particle filtering algorithm specifically comprises:
according to the attitude and the course of the inspection robot determined by the gyroscope, a navigation coordinate system is established, time is integrated according to the accelerated speed of the inspection robot measured by the accelerometer under the navigation coordinate system, and the displacement measurement value X of the inspection robot is calculatediWherein i is 1, 2, …, k, k is the current time;
constructing a state equation and an observation equation in the traveling process of the inspection robot, extracting N displacement measurement values from k displacement measurement values existing at the current moment k according to importance distribution, and generating an initial particle set { X }i}i＝1,2,…,NWherein each of the extracted displacement measurements XiIs recorded as initial particle set { Xi}i＝1,2,…,NA particle of (a);
calculating the initial set of particles { Xi}i＝1,2,…,NWhen the calculated weight is judged to be smaller than a preset threshold value, the corresponding particles are removed, the displacement measurement values with the same number as the removed particles are extracted from the remaining k-N displacement measurement values again, and the displacement measurement values and the reserved displacement measurement values form a secondary particle set { X'i}i＝1,2,…,NRecalculating weight value of each particle and eliminating until secondary particle set { X'i}i＝1,2,…,NThe weight value of each particle is smaller than the preset threshold value, and the secondary particles are collected to be { X'i}i＝1,2,…,NRecording as a set of displacement particles;
and performing mean value calculation according to the displacement particle set, and recording a mean value calculation result as the third position information.
3. The system for locating the temperature anomaly point of a miniature inspection robot with a narrow lumen according to claim 1, wherein a weighting algorithm is adopted to locate the position of the inspection robot in a cable duct bank according to the first position information, the second position information and the third position information, and specifically comprises:
calculating the difference value between two kinds of position information in the first position information, the second position information and the third position information at the current moment, and calculating the sum value of the difference values of any one kind of position information, wherein the sum value comprises a first sum value, a second sum value and a third sum value;
selecting a position weight corresponding to the maximum value in the sum, revising the selected position weight according to a first revision formula and an initial weight, and revising the rest position weights according to a second revision formula and the initial weight;
and positioning the position of the inspection robot in the cable duct bank by adopting a weighting algorithm according to the revised position weight, the first position information, the second position information and the third position information.
4. The temperature anomaly locating system for a narrow lumen micro inspection robot according to claim 1, wherein the inspection robot further comprises: a digital-to-analog conversion unit;
the digital-to-analog conversion unit is used for converting the measured temperature detected by the infrared temperature measurement probe from analog quantity to digital quantity and sending the converted measured temperature to the control terminal.
5. The temperature anomaly locating system for a narrow lumen micro inspection robot according to claim 4, wherein the inspection robot further comprises: a wireless transmitting and receiving module;
the wireless transmitting and receiving module is arranged on the body of the inspection robot and used for receiving the operation instruction of the control terminal and sending the measured temperature and the position information to the control terminal, wherein the operation instruction comprises a start-stop instruction, a forward instruction and a backward instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911113663.3A CN110940420B (en) | 2019-11-14 | 2019-11-14 | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911113663.3A CN110940420B (en) | 2019-11-14 | 2019-11-14 | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110940420A CN110940420A (en) | 2020-03-31 |
| CN110940420B true CN110940420B (en) | 2021-06-22 |
Family
ID=69906603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911113663.3A Active CN110940420B (en) | 2019-11-14 | 2019-11-14 | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110940420B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113701889B (en) * | 2021-08-06 | 2023-04-07 | 深圳供电局有限公司 | Cable joint temperature measuring equipment based on electric field electricity taking and temperature measuring method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576600A (en) * | 2009-05-15 | 2009-11-11 | 重庆大学 | Self-walking underground cable failure detection intelligent instrument |
| WO2009158494A1 (en) * | 2008-06-26 | 2009-12-30 | Lynntech, Inc. | Method of searching for a thermal target |
| CN101672650A (en) * | 2009-09-29 | 2010-03-17 | 北京航空航天大学 | Orienting and locating navigation system in circumstance of electromagnetic interference |
| CN101813493A (en) * | 2010-04-09 | 2010-08-25 | 南京航空航天大学 | Method for initial alignment of inertial navigation system based on particle filtering |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN103309323A (en) * | 2013-06-05 | 2013-09-18 | 广州供电局有限公司 | Method and system for monitoring tunnel environment inspection equipment |
| CN203534708U (en) * | 2013-11-14 | 2014-04-09 | 国家电网公司 | Mobile infrared temperature measuring device |
| EP2752657A2 (en) * | 2013-01-02 | 2014-07-09 | The Boeing Company | System and methods for stand-off inspection of aircraft structures |
| CN104298279A (en) * | 2014-10-23 | 2015-01-21 | 国家电网公司 | Transformer substation intelligent remote temperature control system based on infrared identification and passive sensing technology |
| CN105806345A (en) * | 2016-05-17 | 2016-07-27 | 杭州申昊科技股份有限公司 | Initialized positioning method for transformer substation inspection robot laser navigation |
| CN106949895A (en) * | 2017-04-13 | 2017-07-14 | 杭州申昊科技股份有限公司 | A kind of crusing robot localization method being applied under substation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225302B (en) * | 2017-12-27 | 2020-03-17 | 中国矿业大学 | Petrochemical plant inspection robot positioning system and method |
-
2019
- 2019-11-14 CN CN201911113663.3A patent/CN110940420B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009158494A1 (en) * | 2008-06-26 | 2009-12-30 | Lynntech, Inc. | Method of searching for a thermal target |
| EP2294811A1 (en) * | 2008-06-26 | 2011-03-16 | Lynntech, Inc. | Method of searching for a thermal target |
| CN101576600A (en) * | 2009-05-15 | 2009-11-11 | 重庆大学 | Self-walking underground cable failure detection intelligent instrument |
| CN101672650A (en) * | 2009-09-29 | 2010-03-17 | 北京航空航天大学 | Orienting and locating navigation system in circumstance of electromagnetic interference |
| CN101813493A (en) * | 2010-04-09 | 2010-08-25 | 南京航空航天大学 | Method for initial alignment of inertial navigation system based on particle filtering |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| EP2752657A2 (en) * | 2013-01-02 | 2014-07-09 | The Boeing Company | System and methods for stand-off inspection of aircraft structures |
| CN103309323A (en) * | 2013-06-05 | 2013-09-18 | 广州供电局有限公司 | Method and system for monitoring tunnel environment inspection equipment |
| CN203534708U (en) * | 2013-11-14 | 2014-04-09 | 国家电网公司 | Mobile infrared temperature measuring device |
| CN104298279A (en) * | 2014-10-23 | 2015-01-21 | 国家电网公司 | Transformer substation intelligent remote temperature control system based on infrared identification and passive sensing technology |
| CN105806345A (en) * | 2016-05-17 | 2016-07-27 | 杭州申昊科技股份有限公司 | Initialized positioning method for transformer substation inspection robot laser navigation |
| CN106949895A (en) * | 2017-04-13 | 2017-07-14 | 杭州申昊科技股份有限公司 | A kind of crusing robot localization method being applied under substation |
Non-Patent Citations (1)
| Title |
|---|
| 变电站机器人智能巡检技术及应用效果;彭向阳 等;《高压电器》;20190430;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110940420A (en) | 2020-03-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110716557B (en) | Machine parameter identification and contact force monitoring method based on priori dynamics knowledge | |
| CN112549024B (en) | Robot sensorless collision detection method based on time series analysis and application | |
| CN105043593B (en) | A kind of locomotive temperature sensor fault diagnosis and fault-tolerant method of estimation | |
| CN110940420B (en) | Temperature abnormal point positioning system for miniature inspection robot with narrow and small tube cavities | |
| CN104034733A (en) | Service life prediction method based on binocular vision monitoring and surface crack image recognition | |
| CN105856273A (en) | Industrial robot kinematics performance testing device | |
| CN114401206A (en) | Motor state monitoring method and device, electronic equipment and storage medium | |
| CN210710213U (en) | Device for detecting inclination angle of elevator car based on six-axis acceleration sensor | |
| CN108896049A (en) | A kind of motion positions method in robot chamber | |
| CN116256026B (en) | Health monitoring system of multidimensional splice welding structure under dynamic service working condition | |
| CN108169722A (en) | A kind of unknown disturbances influence the system deviation method for registering of lower sensor | |
| CN116400639A (en) | PLC (programmable logic controller) collected data intelligent cleaning method and system | |
| CN116989842A (en) | Equipment fault diagnosis method and device based on big data and storage medium | |
| Cao et al. | Algorithm and verification for estimating tractor driving wheel slip rate | |
| Cai et al. | A multiple particle filters method for fault diagnosis of mobile robot dead-reckoning system | |
| CN113252777B (en) | Detection device and detection method for cracks of underwater concrete panel of rock-fill dam | |
| CN112489075B (en) | Sequential inertial multi-sensor fusion filtering method based on characteristic function | |
| CN115900796A (en) | Positioning diagnosis method, device, equipment and storage medium | |
| CN109029506A (en) | A kind of signal acquisition method and system | |
| CN111723427B (en) | Bridge structure damage positioning method based on recursive feature decomposition | |
| CN108107882B (en) | Automatic calibration and detection system of service robot based on optical motion tracking | |
| CN103149383B (en) | Structure impact zone image alarm method based on number sequence and time reversal | |
| CN113848876A (en) | Low-communication and low-calculation-consumption fault detection method for multi-AGV distance cruise system | |
| CN112649804A (en) | Centralized multi-sensor fusion filtering method based on characteristic function | |
| CN111637894A (en) | Navigation filtering method for constant coefficient landmark image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Xiaopeng Inventor after: Wang Jikui Inventor after: Zhao Guowei Inventor after: Yao Zening Inventor after: Bai Yixuan Inventor after: Wang Shaowei Inventor before: Wang Jikui Inventor before: Zhao Guowei Inventor before: Yao Zening Inventor before: Bai Yixuan Inventor before: Wang Shaowei |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |