CN112152144A - Flying snake high-voltage transmission line maintenance robot system and control method - Google Patents
Flying snake high-voltage transmission line maintenance robot system and control method Download PDFInfo
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- CN112152144A CN112152144A CN202010997193.8A CN202010997193A CN112152144A CN 112152144 A CN112152144 A CN 112152144A CN 202010997193 A CN202010997193 A CN 202010997193A CN 112152144 A CN112152144 A CN 112152144A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
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Abstract
The invention provides a flying snake high-voltage transmission line maintenance robot system and a control method. The communication module is used for wireless transmission of data; the gesture judging module is used for judging the gestures of the whole flying snake robot and the snake bodies of all the units; the driving module is used for driving the flying snake robot to complete actions such as flying, routing inspection, obstacle crossing, overhauling and the like; the positioning module is used for acquiring the coordinate position of the flying snake robot; the environment recognition and judgment module is used for judging the self motion state of the flying snake robot and recognizing the environment; the flying snake robot controller is used for controlling and coordinating the work among all the modules; the ground control center is used for receiving data transmitted back by the flying snake robot and transmitting related signals to the flying snake robot; and the power supply module is used for supplying power to each module.
Description
Technical Field
The invention belongs to the field of power transmission line inspection, and particularly relates to a flying snake high-voltage power transmission line maintenance robot system and a control method.
Background
The overhead high-voltage transmission line is an intermediate medium for power transmission, and the stability of the overhead high-voltage transmission line is related to the national civilization. At present, the domestic inspection means mostly adopts manual inspection or uses unmanned aerial equipment for inspection. With the deep research of the robot technology, the high-voltage transmission line robot plays an important role in the inspection operation.
For the research of the inspection robot for the high-voltage transmission line, the inspection robot with the LineCout crossing a linear tower, which is developed by the Quebec hydropower research institute in Canada, is relatively representative abroad; an "explorer" inspection robot, which is commonly developed by japan power systems corporation (JPS) and japan western electric power company (KEPCO). The representative in China is that the robot is suitable for patrolling 500KV ultrahigh voltage transmission lines, and the intelligent patrolling robot which is developed by Wuhan university and runs along 110KV and above high voltage transmission line leads, which are developed by Shenyang automation of Chinese academy of sciences.
When the inspection robot is greatly developed, the snake-shaped robot has the characteristics of multiple redundant degrees of freedom, adaptability to various environments and the like, so that the snake-shaped robot is favored. Compared with the earlier research on the snake-shaped robot at home, Hirose professor of Tokyo university in Japan in the last 70 th century successfully develops the first snake-shaped robot which can move on a plane and is named as ACM (active rod mechanism), and then continuously promotes ACM-R2, ACM-R3, ACM-R4 and ACM-R5, wherein the ACM-R5 can realize the amphibious control of a water channel; takanashi of NEC corporation in Japan develops a rigid articulated snake-shaped robot which can move in three-dimensional space and can be applied to exploration and rescue work under dangerous conditions; the united states was developed successfully by the university of kanamylon, mainly for climbing modular serpentine robots, etc. The first miniature snake-imitating robot model in China is developed by Shanghai traffic university, Daizhouzheng and the like in 1999; after that, a snake-shaped robot model machine capable of being controlled by waterway amphibious motion is developed by 2002 national defense science and technology university; shenyang Automation institute of Chinese academy of sciences, robot research and development team with Marchang as core developed snake-shaped robot patroller II and explorer III.
In conclusion, although the high-voltage line inspection robot and the snake-shaped robot have been developed greatly at home and abroad, at present, the following robots exist: (1) at present, most of the control of snake-shaped robots at home and abroad is centralized on ground control, underwater control, pipeline control and the like, and the control of flying is rarely carried out; (2) the control system of the traditional 2-arm or 3-arm high-voltage transmission line inspection robot with the rigid structure is not only complex, but also is generally suitable for being applied to hardware fittings and pole tower environments with specific structures and is difficult to apply to complex and variable high-voltage transmission line environments. (3) Most inspection robots only have inspection control and do not have maintenance control.
In view of the above, it is necessary to provide a flying snake high-voltage transmission line maintenance robot system and a control method thereof. The snake flying robot has a flight control function, and can quickly finish the on-line and off-line through flight control. During the flying process, the flight in the postures of zigzag or O-shaped can be realized through the allosteric control. Meanwhile, different obstacles on the high-voltage transmission line can be crossed in a winding type obstacle crossing mode, a crossing type obstacle crossing mode and the like through the allosteric control in the on-line inspection process. In addition, the flying snake robot has an overhauling control function, so that the problem that most high-voltage transmission line inspection robots only inspect the flying snake robot is solved. In conclusion, the system and the control method provided by the invention effectively ensure that the flying snake robot can finish the routing inspection task with high quality and high efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a flying snake high-voltage transmission line maintenance robot system and a control method.
Aiming at the technical problems, the invention adopts the following technical scheme:
a flying snake high-voltage transmission line maintenance robot system comprises a communication module 4, a posture judging module 20, a driving module 19, a positioning module 21, an environment recognizing and judging module 22, a flying snake robot controller 1, a ground control center 18 and a power supply module 5; the communication module 4 is an intermediate medium for establishing communication between the flying snake robot body and the ground control center 18 and is used for wireless transmission of data; the posture judging module 20 is used for judging the postures of the whole flying snake robot and the snake bodies of all the units; the driving module 19 is used for driving the flying snake robot to complete actions such as flying, routing inspection, obstacle crossing, overhauling and the like; the positioning module 21 is used for acquiring the coordinate position of the flying snake robot to realize the function of accurate positioning; the environment recognition and judgment module 22 is used for judging the self motion state of the flying snake robot and recognizing the environment; the flying snake robot controller 1 is a data processing unit and is used for controlling and coordinating the work among all modules; the ground control center 18 is used for receiving data sent back by the flying snake robot and sending related signals to the flying snake robot; and the power supply module 5 is used for supplying power to each module.
Further, the communication module 4 comprises wireless data transmission, wireless image transmission and unmanned aerial vehicle remote control equipment; the wireless data transmission is used for transmitting data detected by a sensor on the flying snake robot body to the ground control center 18 and sending related signals from the ground control center 18 to the flying snake robot body; the wireless image transmission is used for transmitting the image data detected by the vision system to the ground control center 18; the unmanned aerial vehicle remote control equipment is used for remotely controlling the flying snake robot to fly.
Further, the attitude determination module 20 mainly includes an electronic gyroscope 6; the electronic gyroscope 6 transfers the acquired attitude data to the flying snake robot controller 1 for data processing, and the attitude of the flying snake robot is mastered in real time by establishing a mathematical model and simulation.
Further, the driving module 19 comprises a flying mechanism driving module 3 and a walking mechanism driving module 2; the flying mechanism driving module 3 comprises a brushless motor 17, and provides lift force for the flying snake robot by driving a propeller to realize the functions of online and offline; the travelling mechanism driving module 2 comprises a rotary motor 13, a deflection motor 15, a travelling motor 16 and an overhaul motor 14; the rotary motor 13 is used for driving the snake body of the flying snake robot unit to rotate; the deflection motor 15 is used for driving the snake body of the flying snake robot unit to deflect; the walking motor 16 is used for driving the flying snake robot to walk on line; and the maintenance motor 14 is used for driving a maintenance device at the tail part of the flying snake robot.
Further, the positioning module 21 comprises a GPS7 and a camera 8; the GPS7 is used for positioning the global environment, and the data GIS is searched by taking the current GPS7 data as an index through GIS data modeling; obtaining the position coordinates of the flying snake robot; the camera 8 is used for local environment positioning, and after the spatial image information of the flying snake robot is obtained and processed by the processing unit, the local environment information obtained by the camera 8 and the global environment information obtained by the GPS7 are fused, so that the effect of accurate positioning is achieved.
Further, the environment recognition and judgment module 22 includes a distance measurement sensor 9, a camera 8, a pressure sensor 10, a height sensor 12, and a speed measurement sensor 11; the distance measuring sensor 9 and the camera 8 are respectively used for identifying the type of the obstacle and detecting the distance between the flying snake robot and the obstacle, and the flying snake robot controller 1 controls the driving module 19 to make corresponding actions according to the obtained data; the pressure sensor 10 is used for detecting the pressure between the flying snake robot travelling wheel and the high-voltage transmission line; the height sensor 12 is used for detecting the flying height of the flying snake robot; and the speed measuring sensor 11 is used for detecting the flying speed of the flying snake robot and the walking speed on the high-voltage transmission line.
Further, the flying snake robot controller 1 comprises a flying mechanism controller and a walking mechanism controller; the snake flying robot controller 1 comprises a flying mechanism controller and a traveling mechanism controller; the flying mechanism controller is used for flying control of the flying snake robot, and the walking mechanism controller is used for polling and controlling a high-voltage power transmission line of the flying snake robot; the traveling mechanism controller is connected with the flying mechanism controller in a USART transmission mode based on a serial port communication protocol, and the USART transmission mode is used for data exchange between the two controllers and achieving functions of flying switching and the like.
A control method of a flying snake high-voltage transmission line maintenance robot is characterized by comprising the following steps: the method comprises the following steps:
step one, establishing communication connection between the ground control center 18 and the flying snake robot body;
step two, setting a takeoff attitude:
the ground control center 18 sends an instruction to the flying snake robot controller 1, and the setting of the posture is completed by controlling the rotation of the deflection motor 15 and the rotation motor 13; selecting a "" Z "" type take-off attitude or an "" O "" type take-off attitude;
step three, flight control:
the flying snake robot controller 1 transmits the received data of the attitude judgment module 20, the positioning module 21 and the environment recognition and judgment module 22 back to the ground control center 18 through the communication module 4; the ground control center 18 sends a control signal to the flying snake robot controller 1 through the communication module 4, so as to complete the following control:
ascending or descending flight: the driving motor of the traveling mechanism driving module 2 enables the propeller on the brushless motor 17 to keep horizontal rotation, and the horizontal rotation propeller pushes air downwards to realize ascending or descending flight of the flying snake robot;
deflecting and flying: the driving motor of the walking mechanism driving module 2 inclines a part or all of the propellers on the brushless motor 17 by a certain angle, and the horizontal component force generated by pushing air obliquely downwards by the rotating propellers pushes the flying snake robot to realize deflection flight in the horizontal direction;
and (3) aerial attitude transformation: the attitude change in the horizontal direction can be carried out by changing the angle between the snake bodies of the adjacent units through the driving motor of the traveling mechanism driving module 2; the posture of the flying snake robot in the vertical direction can be changed by controlling different brushless motors 17 to generate different rotating speeds;
step four, online control:
through flight control, after reaching the online position, the ground control center 18 selects a proper online position according to the information detected by the environment recognition and judgment module 22 and the positioning module 21; under the control of the ground control center 18, the flying snake robot slowly approaches to the high-voltage transmission line, and when the snake bodies of all units of the flying snake robot and the high-voltage transmission line are at the expected reasonable relative positions, the walking wheels of the flying snake robot clamp the high-voltage transmission line by controlling the rotary motor 13 and the deflection motor 15 to finish the on-line operation;
step five, flying switching control:
when the flying snake robot is safely hung on a high-voltage transmission line, the traveling mechanism controller sends a signal to the flying mechanism controller through a serial port; at the moment, the flight mechanism controller closes the flight mechanism driving module 3 and switches from the flight state to the online inspection state;
step six, walking control:
after the flying switching is completed, the flying snake robot starts to carry out online autonomous inspection; when the environment recognition and judgment module 22 detects that the distance between the flying snake robot and the obstacle is greater than d0, the flying snake robot performs normal inspection; when the flying snake robot walks on the horizontal line, the walking motor 16 outputs constant torque to keep running at a constant speed; when the vehicle is going downhill, the walking motor 16 outputs a small or no output torque, and can be decelerated in a braking mode if necessary; when climbing uphill, the walking motor 16 outputs a large ground torque, overcomes the component force and the friction force of gravity downwards along a slope, and finishes climbing; when the environment recognition and judgment module 22 detects that the distance between the flying snake robot and the obstacle is greater than d1 and less than or equal to d0, the walking motor 16 enables the flying snake robot to run at a low speed, and when the distance is equal to d1, the flying snake robot stops routing inspection;
step seven, obstacle crossing control:
the flying snake robot controller 1 finishes obstacle crossing through the following control steps according to the type of the acquired obstacle:
(a) loosening the high-voltage transmission line by the travelling wheel of the unit snake body in the obstacle crossing state;
(b) the drive motor of the walking mechanism drive module 2 enables the snake body of the unit in the obstacle crossing to avoid the obstacle and drives the flying snake robot to move forwards;
(c) the driving motor of the walking mechanism driving module 2 enables the walking wheels of the unit snake body which has passed over the obstacle to clamp the high-voltage transmission line again;
(d) repeating the steps until the flying snake robot completely passes through the obstacle;
step eight, slip control:
when the flying snake robot is in a slipping state, the friction between the walking wheels and the high-voltage transmission line is improved by increasing the pressure of the walking wheels and the high-voltage transmission line, so that slipping is overcome; when the pressure value between the travelling wheel and the high-voltage transmission line is greater than or equal to a set safety threshold value but the slippage cannot be overcome, the flying snake robot controller 1 sends the situation to the ground control center 18 through the communication module 4, and the ground control center 18 makes a proper decision;
ninth, maintenance control: in the inspection process, when the environment recognition and judgment module 22 detects that the high-voltage transmission line has a problem needing to be inspected, the flying snake robot controller 1 controls the inspection motor 14 to generate corresponding actions according to the actual condition of the problem, and the inspection task is completed;
step ten, finishing the inspection, and performing offline control: the process is the reverse of the third, fourth and fifth steps.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the snake flying robot has a flight control function, and can quickly finish the on-line and off-line through flight control. During the flying process, the flight in the postures of zigzag or O-shaped can be realized through the allosteric control. Meanwhile, in the on-line inspection process, different obstacles on the high-voltage power transmission line can be crossed by adopting obstacle crossing modes such as a winding mode and a crossing mode through variable configuration control, and the adaptability of the flying snake robot to the complex and variable high-voltage power transmission line environment and flying environment is greatly improved. In addition, the flying snake robot has an overhauling control function, so that the problem that most high-voltage transmission line inspection robots only inspect the flying snake robot is solved. By the aid of the method, the flying snake robot can finish inspection tasks with high quality and high efficiency.
Drawings
Fig. 1 is a structural schematic diagram of a flying snake robot.
Fig. 2 is a hardware block diagram of the flying snake robot system.
Fig. 3 is a schematic flow chart of flight control of the flying snake robot.
Fig. 4 is a schematic diagram of an online control flow of the flying snake robot.
Fig. 5 is a schematic flow chart of the flying snake robot walking control.
Fig. 6 is a schematic flow chart of obstacle crossing control of the flying snake robot.
Fig. 7 is a schematic flow chart of a control method of the flying snake robot.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the flying snake robot is integrally divided into a traveling mechanism and a flying mechanism, and the flying mechanism and the traveling mechanism are respectively composed of unit snake bodies with traveling function and flying function. The snake bodies of the units are connected through a rotary motor 13 and a deflection motor 15, and each snake body of the unit comprises an environment recognition and judgment module 22 and an attitude judgment module 20. The head of the snake contains a positioning module 21 and the tail contains the service motor 14. The traveling motor 16 and the brushless motor 17 are respectively included in a unit snake body having a traveling function and a flying function. The communication module 4 and the power module 5 are respectively positioned at the tail and the middle snake body. The pressure sensors 10 are located on the links of two adjacent running gears. It is worth noting that the arrangement positions of the modules and the sensors can be adjusted according to actual conditions, and the number of the unit snake bodies and the number and types of the sensors can be modified according to the actual conditions.
As shown in fig. 2: a flying snake high-voltage transmission line maintenance robot system comprises a communication module 4, a posture judging module 20, a driving module 19, a positioning module 21, an environment recognizing and judging module 22, a flying snake robot controller 1, a ground control center 18 and a power supply module 5; the communication module 4 is an intermediate medium for establishing communication between the flying snake robot body and the ground control center 18 and is used for wireless transmission of data; the posture judging module 20 is used for judging the postures of the whole flying snake robot and the snake bodies of all the units; the driving module 19 is used for driving the flying snake robot to complete actions such as flying, routing inspection, obstacle crossing, overhauling and the like; the positioning module 21 is used for acquiring the coordinate position of the flying snake robot to realize the function of accurate positioning; the environment recognition and judgment module 22 is used for judging the self motion state of the flying snake robot and recognizing the environment; the flying snake robot controller 1 is a data processing unit and is used for controlling and coordinating the work among all modules; the ground control center 18 is used for receiving data sent back by the flying snake robot and sending related signals to the flying snake robot; and the power supply module 5 is used for supplying power to each module.
In this embodiment, the communication module 4 includes wireless data transmission, wireless image transmission, and an unmanned aerial vehicle remote control device; the wireless data transmission is used for transmitting data detected by a sensor on the flying snake robot body to the ground control center 18 and sending related signals from the ground control center 18 to the flying snake robot body; the wireless image transmission is used for transmitting the image data detected by the vision system to the ground control center 18; the unmanned aerial vehicle remote control equipment is used for remotely controlling the flying snake robot to fly.
In this embodiment, the gesture determination module 20 mainly includes an electronic gyroscope 6; the electronic gyroscope 6 transfers the acquired attitude data to the flying snake robot controller 1 for data processing, and the attitude of the flying snake robot is mastered in real time by establishing a mathematical model and simulation.
In the present embodiment, the driving module 19 includes a flight mechanism driving module 3 and a traveling mechanism driving module 2; the flying mechanism driving module 3 comprises a brushless motor 17, and provides lift force for the flying snake robot by driving a propeller to realize the functions of online and offline; the travelling mechanism driving module 2 comprises a rotary motor 13, a deflection motor 15, a travelling motor 16 and an overhaul motor 14; the rotary motor 13 is used for driving the snake body of the flying snake robot unit to rotate; the deflection motor 15 is used for driving the snake body of the flying snake robot unit to deflect; the walking motor 16 is used for driving the flying snake robot to walk on line; and the maintenance motor 14 is used for driving a maintenance device at the tail part of the flying snake robot.
In this embodiment, the positioning module 21 includes a GPS7 and a camera 8; the GPS7 is used for positioning the global environment, and the data GIS is searched by taking the current GPS7 data as an index through GIS data modeling; obtaining the position coordinates of the flying snake robot; the camera 8 is used for local environment positioning, and after the spatial image information of the flying snake robot is obtained and processed by the processing unit, the local environment information obtained by the camera 8 and the global environment information obtained by the GPS7 are fused, so that the effect of accurate positioning is achieved.
In this embodiment, the environment recognition and determination module 22 includes a distance measurement sensor 9, a camera 8, a pressure sensor 10, a height sensor 12, and a speed measurement sensor 11; the distance measuring sensor 9 and the camera 8 are respectively used for identifying the type of the obstacle and judging the distance between the flying snake robot and the obstacle, and the flying snake robot controller 1 controls the driving module 19 to make corresponding actions according to the obtained data; the pressure sensor 10 is used for detecting the pressure between the flying snake robot travelling wheel and the high-voltage transmission line; the height sensor 12 is used for detecting the flying height of the flying snake robot; and the speed measuring sensor 11 is used for detecting the flying speed of the flying snake robot and the walking speed on the high-voltage transmission line.
In this embodiment, the flying snake robot controller 1 includes a flying mechanism controller and a traveling mechanism controller; the flying mechanism controller is used for flying control of the flying snake robot, and the walking mechanism controller is used for polling and controlling a high-voltage power transmission line of the flying snake robot; the traveling mechanism controller is connected with the flying mechanism controller in a USART transmission mode based on a serial port communication protocol, so that the effect of facilitating data exchange between the two controllers is achieved, and functions such as flying switching are achieved.
As shown in fig. 3, 4, 5, 6 and 7, the control method of the flying snake high-voltage transmission line maintenance robot of the invention comprises the following steps:
step one, establishing communication connection between the ground control center 18 and the flying snake robot body;
step two, setting a takeoff attitude:
the ground control center 18 sends an instruction to the flying snake robot controller 1, and the setting of the posture is completed by controlling the rotation of the deflection motor 15 and the rotation motor 13; selecting a "" Z "" type take-off attitude or an "" O "" type take-off attitude;
step three, flight control:
the flying snake robot controller 1 transmits the received data of the attitude judgment module 20, the positioning module 21 and the environment recognition and judgment module 22 back to the ground control center 18 through the communication module 4; the ground control center 18 sends a control signal to the flying snake robot controller 1 through the communication module 4, so as to complete the following control:
ascending or descending flight: the driving motor of the traveling mechanism driving module 2 enables the propeller on the brushless motor 17 to keep horizontal rotation, and the horizontal rotation propeller pushes air downwards to realize ascending or descending flight of the flying snake robot;
deflecting and flying: the driving motor of the walking mechanism driving module 2 inclines a part or all of the propellers on the brushless motor 17 by a certain angle, and the horizontal component force generated by pushing air obliquely downwards by the rotating propellers pushes the flying snake robot to realize deflection flight in the horizontal direction;
and (3) aerial attitude transformation: the attitude change in the horizontal direction can be carried out by changing the angle between the snake bodies of the adjacent units through the driving motor of the traveling mechanism driving module 2; the posture of the flying snake robot in the vertical direction can be changed by controlling different brushless motors 17 to generate different rotating speeds;
step four, online control:
through flight control, after reaching the online position, the ground control center 18 selects a proper online position according to the information detected by the environment recognition and judgment module 22 and the positioning module 21; under the control of the ground control center 18, the flying snake robot slowly approaches to the high-voltage transmission line, and when the snake bodies of all units of the flying snake robot and the high-voltage transmission line are at the expected reasonable relative positions, the walking wheels of the flying snake robot clamp the high-voltage transmission line by controlling the rotary motor 13 and the deflection motor 15 to finish the on-line operation;
step five, flying switching control:
when the flying snake robot is safely hung on a high-voltage transmission line, the traveling mechanism controller sends a signal to the flying mechanism controller through a serial port; at the moment, the flight mechanism controller closes the flight mechanism driving module 3 and switches from the flight state to the online inspection state;
step six, walking control:
after the flying switching is completed, the flying snake robot starts to carry out online autonomous inspection; when the environment recognition and judgment module 22 detects that the distance between the flying snake robot and the obstacle is greater than d0, the flying snake robot performs normal inspection; when the flying snake robot walks on the horizontal line, the walking motor 16 outputs constant torque to keep running at a constant speed; when the vehicle is going downhill, the walking motor 16 outputs a small or no output torque, and can be decelerated in a braking mode if necessary; when climbing uphill, the walking motor 16 outputs a large ground torque, overcomes the component force and the friction force of gravity downwards along a slope, and finishes climbing; when the environment recognition and judgment module 22 detects that the distance between the flying snake robot and the obstacle is greater than d1 and less than or equal to d0, the walking motor 16 enables the flying snake robot to run at a low speed, and when the distance is equal to d1, the flying snake robot stops routing inspection;
step seven, obstacle crossing control:
the flying snake robot controller 1 finishes obstacle crossing through the following control steps according to the type of the acquired obstacle:
(a) loosening the high-voltage transmission line by the travelling wheel of the unit snake body in the obstacle crossing state;
(b) the drive motor of the walking mechanism drive module 2 enables the snake body of the unit in the obstacle crossing to avoid the obstacle and drives the flying snake robot to move forwards;
(c) the driving motor of the walking mechanism driving module 2 enables the walking wheels of the unit snake body which has passed over the obstacle to clamp the high-voltage transmission line again;
(d) repeating the steps until the flying snake robot completely passes through the obstacle;
step eight, slip control:
when the flying snake robot is in a slipping state, the friction between the walking wheels and the high-voltage transmission line is improved by increasing the pressure of the walking wheels and the high-voltage transmission line, so that slipping is overcome; when the pressure value between the travelling wheel and the high-voltage transmission line is greater than or equal to a set safety threshold value but the slippage cannot be overcome, the flying snake robot controller 1 sends the situation to the ground control center 18 through the communication module 4, and the ground control center 18 makes a proper decision;
ninth, maintenance control: in the inspection process, when the environment recognition and judgment module 22 detects that the high-voltage transmission line has a problem needing to be inspected, the flying snake robot controller 1 controls the inspection motor 14 to generate corresponding actions according to the actual condition of the problem, and the inspection task is completed;
step ten, finishing the inspection, and performing offline control: the process is the reverse of the third, fourth and fifth steps.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a flying snake high tension transmission line overhauls robot system which characterized in that: the system comprises a communication module 4, a posture judging module 20, a driving module 19, a positioning module 21, an environment recognizing and judging module 22, a flying snake robot controller 1, a ground control center 18 and a power supply module 5; the communication module 4 is an intermediate medium for establishing communication between the flying snake robot body and the ground control center 18 and is used for wireless transmission of data; the posture judging module 20 is used for judging the postures of the whole flying snake robot and the snake bodies of all the units; the driving module 19 is used for driving the flying snake robot to complete actions such as flying, routing inspection, obstacle crossing, overhauling and the like; the positioning module 21 is used for acquiring the coordinate position of the flying snake robot to realize the function of accurate positioning; the environment recognition and judgment module 22 is used for judging the self motion state of the flying snake robot and recognizing the environment; the flying snake robot controller 1 is a data processing unit and is used for controlling and coordinating the work among all modules; the ground control center 18 is used for receiving data sent back by the flying snake robot and sending related signals to the flying snake robot; and the power supply module 5 is used for supplying power to each module.
2. The flying snake high-voltage transmission line overhauling robot system as recited in claim 1, wherein: the communication module 4 comprises wireless data transmission, wireless image transmission and unmanned aerial vehicle remote control equipment; the wireless data transmission is used for transmitting data detected by a sensor on the flying snake robot body to the ground control center 18 and sending related signals from the ground control center 18 to the flying snake robot body; the wireless image transmission is used for transmitting the image data detected by the vision system to the ground control center 18; the unmanned aerial vehicle remote control equipment is used for remotely controlling the flying snake robot to fly.
3. The flying snake high-voltage transmission line overhauling robot system as recited in claim 1, wherein: the attitude determination module 20 mainly comprises an electronic gyroscope 6; the electronic gyroscope 6 transfers the acquired attitude data to the flying snake robot controller 1 for data processing, and the attitude of the flying snake robot is mastered in real time by establishing a mathematical model and simulation.
4. The flying snake high-voltage transmission line overhauling robot system as recited in claim 1, wherein: the driving module 19 comprises a flying mechanism driving module 3 and a walking mechanism driving module 2; the flying mechanism driving module 3 comprises a brushless motor 17, and provides lift force for the flying snake robot by driving a propeller to realize the functions of online and offline; the travelling mechanism driving module 2 comprises a rotary motor 13, a deflection motor 15, a travelling motor 16 and an overhaul motor 14; the rotary motor 13 is used for driving the snake body of the flying snake robot unit to rotate; the deflection motor 15 is used for driving the snake body of the flying snake robot unit to deflect; the walking motor 16 is used for driving the flying snake robot to walk on line; and the maintenance motor 14 is used for driving a maintenance device at the tail part of the flying snake robot.
5. The flying snake high-voltage transmission line overhauling robot system as recited in claim 1, wherein: the positioning module 21 comprises a GPS7 and a camera 8; the GPS7 is used for positioning the global environment, the data GIS is searched by taking the current GPS7 data as an index through GIS data modeling, and the position coordinate where the flying snake robot is located is obtained; the camera 8 is used for local environment positioning, and after the spatial image information of the flying snake robot is obtained and processed by the processing unit, the local environment information obtained by the camera 8 and the global environment information obtained by the GPS7 are fused, so that the effect of accurate positioning is achieved.
6. The flying snake high-voltage transmission line overhauling robot system as recited in claim 1, wherein: the environment recognition and judgment module 22 comprises a distance measurement sensor 9, a camera 8, a pressure sensor 10, a height sensor 12 and a speed measurement sensor 11; the distance measuring sensor 9 and the camera 8 are respectively used for identifying the type of the obstacle and detecting the distance between the flying snake robot and the obstacle, and the flying snake robot controller 1 controls the driving module 19 to make corresponding actions according to the obtained data; the pressure sensor 10 is used for detecting the pressure between the flying snake robot travelling wheel and the high-voltage transmission line; the height sensor 12 is used for detecting the flying height of the flying snake robot; and the speed measuring sensor 11 is used for detecting the flying speed of the flying snake robot and the walking speed on the high-voltage transmission line.
7. The flying snake high-voltage transmission line overhauling robot system as recited in claim 1, wherein: the snake flying robot controller 1 comprises a flying mechanism controller and a traveling mechanism controller; the flying mechanism controller is used for flying control of the flying snake robot, and the walking mechanism controller is used for polling and controlling a high-voltage power transmission line of the flying snake robot; the traveling mechanism controller is connected with the flying mechanism controller in a USART transmission mode based on a serial port communication protocol, and the USART transmission mode is used for data exchange between the two controllers and achieving functions of flying switching and the like.
8. A control method of a flying snake high-voltage transmission line maintenance robot is characterized by comprising the following steps: the method comprises the following steps:
step one, establishing communication connection between the ground control center 18 and the flying snake robot body;
step two, setting a takeoff attitude: the ground control center 18 sends an instruction to the flying snake robot controller 1, and the setting of the posture is completed by controlling the rotation of the deflection motor 15 and the rotation motor 13; selecting a "" Z "" type take-off attitude or an "" O "" type take-off attitude;
step three, flight control:
the flying snake robot controller 1 transmits the received data of the attitude judgment module 20, the positioning module 21 and the environment recognition and judgment module 22 back to the ground control center 18 through the communication module 4; the ground control center 18 sends a control signal to the flying snake robot controller 1 through the communication module 4, so as to complete the following control:
ascending or descending flight: the driving motor of the traveling mechanism driving module 2 enables the propellers on all the brushless motors 17 to keep horizontal rotation at the same rotating speed, and the propellers which horizontally rotate push air downwards to realize ascending or descending flight of the flying snake robot;
deflecting and flying: the driving motor of the walking mechanism driving module 2 enables partial or all propellers on the brushless motor 17 to incline at a certain angle, the rotating speeds of all the brushless motors are kept consistent, and the horizontal component force generated by pushing air obliquely downwards by the rotating propellers pushes the flying snake robot to realize deflection flying in the horizontal direction;
and (3) aerial attitude transformation: the angle between the snake bodies of the adjacent units is changed through a driving motor of the traveling mechanism driving module 2, so that the posture in the horizontal direction is changed; the posture of the flying snake robot in the vertical direction is changed by controlling different brushless motors 17 to generate different rotating speeds;
step four, online control:
through flight control, after reaching the online position, the ground control center 18 selects a proper online position according to the information detected by the environment recognition and judgment module 22 and the positioning module 21; under the control of the ground control center 18, the flying snake robot slowly approaches to the high-voltage transmission line, and when the snake bodies of all units of the flying snake robot and the high-voltage transmission line are at the expected reasonable relative positions, the walking wheels of the flying snake robot clamp the high-voltage transmission line by controlling the rotary motor 13 and the deflection motor 15 to finish the on-line operation;
step five, flying switching control:
when the flying snake robot is safely suspended on a high-voltage power transmission line, the traveling mechanism controller sends a signal to the flying mechanism controller through a serial port; at the moment, the flight mechanism controller closes the flight mechanism driving module 3 and switches from the flight state to the online inspection state;
step six, walking control:
after the flying switching is completed, the flying snake robot starts to carry out online autonomous inspection; when the environment recognition and judgment module 22 detects that the distance between the flying snake robot and the obstacle is greater than d0, the flying snake robot performs normal inspection; when the flying snake robot walks on the horizontal line, the walking motor 16 outputs constant torque to keep running at a constant speed; when the vehicle is going downhill, the walking motor 16 outputs a small or no output torque, and can be decelerated in a braking mode if necessary; when climbing uphill, the walking motor 16 outputs a large ground torque, overcomes the component force and the friction force of gravity downwards along a slope, and finishes climbing; when the environment recognition and judgment module 22 detects that the distance between the flying snake robot and the obstacle is greater than d1 and less than or equal to d0, the walking motor 16 enables the flying snake robot to run at a low speed, and when the distance is equal to d1, the flying snake robot stops routing inspection;
step seven, obstacle crossing control:
the flying snake robot controller 1 finishes obstacle crossing through the following control steps according to the type of the acquired obstacle:
(a) loosening the high-voltage transmission line by the travelling wheel of the unit snake body in the obstacle crossing state;
(b) the drive motor of the walking mechanism drive module 2 enables the snake body of the unit in the obstacle crossing to avoid the obstacle and drives the flying snake robot to move forwards;
(c) the driving motor of the walking mechanism driving module 2 enables the walking wheels of the unit snake body which has passed over the obstacle to clamp the high-voltage transmission line again;
(d) repeating the steps until the flying snake robot completely passes through the obstacle;
step eight, slip control:
when the flying snake robot is in a slipping state, the friction between the walking wheels and the high-voltage transmission line is improved by increasing the pressure of the walking wheels and the high-voltage transmission line, so that slipping is overcome; when the pressure value between the travelling wheel and the high-voltage transmission line is greater than or equal to a set safety threshold value but the slippage cannot be overcome, the flying snake robot controller 1 sends the situation to the ground control center 18 through the communication module 4, and the ground control center 18 makes a proper decision;
ninth, maintenance control: in the inspection process, when the environment recognition and judgment module 22 detects that the high-voltage transmission line has a problem needing to be inspected, the flying snake robot controller 1 controls the inspection motor 14 to generate corresponding actions according to the actual condition of the problem, and the inspection task is completed;
step ten, off-line control: the process is the reverse of the third, fourth and fifth steps.
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