CN115042229A - Speed control method and system for power transmission line robot online device - Google Patents
Speed control method and system for power transmission line robot online device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
A speed control method for a device on a power transmission line robot comprises the following steps: measuring the power of a motor in different load states in a transportation device which operates at a constant speed within a specified speed, marking the power as test power, wherein the load states comprise no load and load, and the motion states comprise ascending and descending; acquiring the maximum speeds of the motor in different load states under different motion states; when the transportation device starts to operate, the transportation device operates at a constant speed within a specified time period, a corresponding maximum speed is selected according to the motion state and the load state, and the maximum speed replaces the specified speed to serve as the operation speed of the current transportation device. According to the load state and the motion state of the current transportation device, the corresponding maximum speed can be selected as the operation speed of the transportation device. The conveying device can reach the destination at the highest speed, and the efficiency of the inspection robot for getting on and off the line is improved.
Description
Technical Field
The invention relates to the technical field of power inspection equipment, in particular to a speed control method and system for a power transmission line robot online device.
Background
The overhead line form adopted by China becomes the main form of power transmission, the safety and stability of the overhead line form directly affect the reliability of a power supply system, the overhead transmission line is wide in distribution, long in length and complex in line environment, and with the development of the robot technology, the inspection robot is used for inspecting and maintaining the overhead line, so that the labor intensity of workers in the kilometer line inspection can be reduced, and the detection precision and the detection efficiency can be improved.
The inspection robot needs to go up and down the line through the transporting device installed on the iron tower, the moving speed in the up-and-down transporting process needs to be properly controlled, if the speed is too slow, the efficiency is too low, and if the speed is too fast, the running power of the motor can be exceeded. The loading and unloading transportation devices have the condition of loading and unloading in the operation process, and the motion of the two conditions is required to be distinguished; and the tracks running on the upper line and the lower line are arranged on the electric iron tower, the track conditions at different height sections are different, and the optimal speed during running is also different.
The speed of the upper line and the lower line is adjusted manually in the prior art, the speed set by the method is fixed and cannot be adjusted automatically according to actual conditions, the motor is overloaded and stopped due to too high speed, the running time is too long due to too low speed, and the conveying efficiency of the inspection robot is influenced.
Disclosure of Invention
In view of the above drawbacks, the present invention provides a speed control method and system for a feeding device of a power transmission line robot to solve the problem of low feeding and discharging efficiency of a transportation device in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a speed control method for a device on a power transmission line robot comprises the following steps:
measuring the power of a motor in different load states under different motion states in a transport device which operates at a constant speed within a specified speed, and marking the power as test power, wherein the load states comprise no load and load, and the motion states comprise ascending and descending;
acquiring the maximum speeds of the motor in different load states under different motion states;
when the transportation device starts to operate, the transportation device operates at a constant speed within a specified time period, and the real-time power of the motor at the moment is acquired;
selecting the corresponding test power according to the motion state of the current transport device, and judging the load state of the current transport device through the real-time power and the test power;
and selecting a corresponding maximum speed according to the motion state and the load state, and replacing the specified speed with the maximum speed to serve as the running speed of the current transportation device.
Preferably, the specific steps of judging the load state of the current transportation device through the real-time power and the test power are as follows:
acquiring the absolute value of the difference value between the real-time power and the test power of the load and the test power of the no-load under the same motion state;
and judging whether the absolute value of the difference value between the real-time power and the test power of the load is larger than the absolute value of the difference value between the real-time power and the test power of the no-load, if so, judging that the load state of the current transport device is the no-load, and if not, judging that the load state of the current transport device is the load.
Preferably, the method further comprises the following steps;
when the transportation device takes the maximum speed as the running speed, the running state of the motor is obtained in real time, if the motor is out of tolerance, the first adjusting threshold value is used for carrying out speed reduction adjustment on the maximum speed for a plurality of times until the motor is out of tolerance;
and if the motor does not have the out-of-tolerance condition within a period of time, carrying out speed-increasing regulation on the maximum speed for a plurality of times by using a second regulation threshold value until the out-of-tolerance condition of the motor occurs, and selecting the maximum speed of the motor before the out-of-tolerance condition as the running speed.
Preferably, the selection conditions of the predetermined speed are: the difference between the test powers of different load states in the same motion state is the largest.
The utility model provides an automatic speed control system who transports inspection robot and go up and down coil uses above-mentioned a speed control method of online device of transmission line robot which characterized in that includes: the device comprises a test module, a maximum speed acquisition module, a real-time power acquisition module, a judgment module and a selection module;
the testing module is used for testing the power of the motor in different load states in the transportation device which operates at a constant speed within a specified speed and marking the power as testing power;
the maximum speed acquisition module is used for acquiring the maximum speeds of the motor in different load states under different motion states;
the real-time power acquisition module is used for operating at a constant speed within a specified time period when the transportation device starts to operate, and acquiring the real-time power of the motor at the moment;
the judging module is used for selecting the corresponding test power according to the motion state of the current transportation device and judging the load state of the current transportation device through the real-time power and the test power;
the selection module is used for selecting a corresponding maximum speed according to the motion state and the load state, and replacing the specified speed with the maximum speed to serve as the running speed of the current transportation device.
Preferably, the judging module comprises a difference value obtaining module and a calculating module;
the difference value acquisition module is used for acquiring the absolute value of the difference value between the real-time power and the test power of the load and the test power of the no-load in the same motion state;
the calculation module is used for calculating whether the absolute value of the difference value between the real-time power and the test power of the load is larger than the absolute value of the difference value between the real-time power and the test power of the no-load, if so, the load state of the current transportation device is the load, and if not, the load state of the current transportation device is the no-load.
Preferably, the device also comprises an adjusting module;
the adjusting module is used for acquiring the running state of the motor in real time after the transportation device takes the maximum speed as the running speed, and if the motor is out of tolerance, performing speed reduction adjustment on the maximum speed for a plurality of times by using a first adjusting threshold until the motor is not out of tolerance;
and if the motor does not have the out-of-tolerance condition within a period of time, carrying out speed-increasing regulation on the maximum speed for a plurality of times by using a second regulation threshold value until the out-of-tolerance condition of the motor occurs, and selecting the maximum speed of the motor before the out-of-tolerance condition as the running speed.
Preferably, the test module comprises a speed selection module;
the speed selection module is used for acquiring the speed causing the difference value between the test powers of different load states in the same motion state to be the maximum, and the speed is used as the specified speed.
One of the above technical solutions has the following advantages or beneficial effects: 1. according to the load state and the motion state of the current transportation device, the corresponding maximum speed can be selected as the operation speed of the transportation device. The conveying device can reach the destination at the highest speed, and the efficiency of the inspection robot for getting on and off the line is improved.
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FIG. 1 is a flow chart of one embodiment of the method of the present invention.
Fig. 2 is a schematic structural diagram of one embodiment of the system of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-2, a speed control method for a device on a power transmission line robot includes the following steps:
measuring the power of a motor in different load states under different motion states in a transport device which operates at a constant speed within a specified speed, and marking the power as test power, wherein the load states comprise no load and load, and the motion states comprise ascending and descending;
acquiring the maximum speeds of the motor in different load states under different motion states;
the maximum speed obtained in the application can be obtained through model training in a virtual environment and can also be obtained through actual testing, and excessive explanation is not performed here.
When the transportation device starts to operate, the transportation device operates at a constant speed within a specified time period, and the real-time power of the motor at the moment is acquired;
selecting the corresponding test power according to the motion state of the current transport device, and judging the load state of the current transport device through the real-time power and the test power;
and selecting a corresponding maximum speed according to the motion state and the load state, and replacing the specified speed with the maximum speed to serve as the running speed of the current transportation device.
Preferably, the specific steps of judging the load state of the current transportation device through the real-time power and the test power are as follows:
acquiring the absolute value of the difference value between the real-time power and the test power of the load and the test power of the no-load under the same motion state;
and judging whether the absolute value of the difference value between the real-time power and the test power of the load is larger than the absolute value of the difference value between the real-time power and the test power of the no-load, if so, judging that the load state of the current transport device is the no-load, and if not, judging that the load state of the current transport device is the load.
In the prior art, a manual check is required to know whether the inspection robot is loaded in the transporter to select the operation speed of the transporter. Wasting manpower and material resources. However, when the transportation device is in the tracks with different conditions, the motors of the transportation device have different powers, and the current load state of the transportation device cannot be judged through a single test power. To solve the above problem, the present invention introduces real-time power again, and in the present invention, the load state of the transportation device is distinguished by using different powers of the motors under different load states in the same specified speed. At the same speed, the motor of the loaded transporter requires more power than the unloaded transporter to keep the running speed of the loaded transporter consistent with the running speed of the unloaded transporter.
When the transport device starts to operate, the transport device is operated at a constant speed by using the specified speed with the same test power, the real-time power of the motor at the moment is obtained, according to the theory, when the transport device is unloaded, the real-time power of the transport device in an unloaded state is smaller than the real-time power of the transport device in a loaded state, and then the load condition of the current transport device can be judged according to the difference between the comparison results of the real-time power load test power and the unloaded test power.
For convenience of explanation and explanation, the test power of the load at the time of rising is represented by a, the test power of the idle load at the time of rising is represented by B, the test power of the load at the time of falling is represented by C, the test power of the idle load at the time of falling is represented by D, and the real-time power is represented by X. When the transport device is in a rising motion state, the real-time power X is used for being compared with the test power A of the load during rising and the test power B of the empty load during rising respectively, and when the real-time power X is | X-A | > | X-B |, the load state of the current transport device is indicated as the empty load, because the real-time power during the empty load is smaller, the value of the real-time power X tends to the test power B of the empty load during rising even if the real-time power is influenced by the track environment, and the difference value between the test power B of the empty load during rising and the real-time power X is smaller than the difference value between the test power A of the load during rising and the real-time power X. And comparing the real-time power X with the test power C of the load during descending and the test power D of the idle load during descending respectively when the transportation device is in the descending motion state.
When the load state and the motion state of the current transportation device are known, the corresponding maximum speed can be selected as the running speed of the transportation device. The conveying device can reach the destination at the highest speed, and the efficiency of the inspection robot for getting on and off the line is improved.
It should be noted that, in the present invention, the obtaining of the real-time power and the obtaining of the test power are both performed at the specified speed, so as to avoid that different speeds affect the approaching degree of the real-time power to the test power at no load or the test power at load, thereby affecting the judgment of the load state of the transportation device.
Preferably, the method further comprises the following steps;
when the transportation device takes the maximum speed as the running speed, the running state of the motor is obtained in real time, if the motor is out of tolerance, the first adjusting threshold value is used for carrying out speed reduction adjustment on the maximum speed for a plurality of times until the motor is out of tolerance;
and if the motor does not have the out-of-tolerance condition within a period of time, carrying out speed-increasing regulation on the maximum speed for a plurality of times by using a second regulation threshold value until the out-of-tolerance condition of the motor occurs, and selecting the maximum speed of the motor before the out-of-tolerance condition as the running speed.
Since the maximum speed is derived from a test on a certain orbit or from a model in a virtual environment. In actual operation, different road section environments are arranged on the same track, so that the operation of the motor is influenced, when the road section environment of the track is poor, the transportation device needs to be kept at the maximum speed, and then more power is needed, at the moment, the motor possibly has an out-of-tolerance condition, and the service life of the motor is seriously influenced. And when the road section environment is better, the motor may not have the operation limit of the motor when the motor operates at the maximum speed.
Therefore, the maximum speed is also adjusted, when the transportation device runs at the maximum speed, the running state of the motor is obtained in real time, if the motor is out of tolerance, the current road section environment is not good, the service life of the motor is influenced by keeping the current maximum speed to continue running, so that the maximum speed needs to be adjusted by using a first adjustment threshold value, wherein in one embodiment, the first adjustment threshold value can be 0.8, the maximum speed is adjusted by multiplying the first adjustment threshold value by the current maximum speed to obtain 0.8 times of the maximum speed, and the motor can also be out of tolerance after being adjusted, so that the maximum speed needs to be adjusted to a speed at which the motor cannot be out of tolerance.
After the transportation device runs at the maximum speed for a period of time, if the motor does not have an out-of-tolerance condition, the current road section environment is better, so the invention uses the second regulation threshold value to regulate the maximum speed, in one embodiment, the second regulation threshold value is 1.2, the period of time is 5s, the process of regulating the maximum speed by reducing the speed is that the second regulation threshold value is multiplied by the current maximum speed, namely, the maximum speed which is 1.2 times is obtained, the speed is increased for a plurality of times until the motor has the out-of-tolerance condition, and the maximum speed which is right before the out-of-tolerance condition is used as the running speed.
Through right maximum speed is adjusted, can make conveyer adaptation different highway section environment to transport inspection robot with the biggest speed and go on and off the production line, improved the efficiency of going on and off the production line of inspection robot greatly.
Preferably, the selection conditions of the predetermined speed are: the difference between the test powers of different load states in the same motion state is the largest.
When the difference value between the loaded test power and the unloaded test power in the same motion state is the largest, the accuracy of the load state judgment result can be improved. Because the real-time power tends to be more toward the current load state when the difference between the real-time power and the real-time power is maximum and the real-time power is operated in the actual environment at the specified speed.
In the following description of the first embodiment, the test power of the load at the time of rising is represented by a, and the test power of the no-load at the time of rising is represented by B, and when the predetermined speed is selected, the maximum difference between a and B is 10, and when a is measured to be 15, B is 5. When the transport unit is operating at this specified speed at no-load, the real-time power of the motor will tend to be in the vicinity of 5. The current load state of the transportation device can be easily judged. When the specified speed is selected, the difference value between A and B is 1, when A is measured to be 5, B is 4, when the transportation device runs at the specified speed for loading, the real-time power of the motor tends to be close to 5, if the road section environment at the time is good, the real-time power of the motor tends to be below 5, and the real-time power is between 4 and 5, so that the loading state of the transportation device is difficult to accurately judge.
The utility model provides an automatic speed control system who transports inspection robot and go up and down coil uses above-mentioned a speed control method of online device of transmission line robot which characterized in that includes: the device comprises a test module, a maximum speed acquisition module, a real-time power acquisition module, a judgment module and a selection module;
the testing module is used for testing the power of the motor in different load states in the transportation device which operates at a constant speed within a specified speed, and marking the power as testing power;
the maximum speed acquisition module is used for acquiring the maximum speeds of the motor in different load states under different motion states;
the real-time power acquisition module is used for operating at a constant speed within a specified time period when the transportation device starts to operate, and acquiring the real-time power of the motor at the moment;
the judging module is used for selecting the corresponding test power according to the motion state of the current transportation device and judging the load state of the current transportation device through the real-time power and the test power;
the selection module is used for selecting a corresponding maximum speed according to the motion state and the load state, and replacing the specified speed with the maximum speed to serve as the running speed of the current transportation device.
Preferably, the judging module comprises a difference value obtaining module and a calculating module;
the difference value acquisition module is used for acquiring the absolute value of the difference value between the real-time power and the test power of the load and the test power of the no-load in the same motion state;
the calculation module is used for calculating whether the absolute value of the difference value between the real-time power and the test power of the load is larger than the absolute value of the difference value between the real-time power and the test power of the no-load, if so, the current load state of the transport device is the load, and if not, the current load state of the transport device is the no-load.
Preferably, the device further comprises an adjusting module;
the adjusting module is used for acquiring the running state of the motor in real time after the transportation device takes the maximum speed as the running speed, and if the motor is out of tolerance, performing speed reduction adjustment on the maximum speed for a plurality of times by using a first adjusting threshold until the motor is not out of tolerance;
and if the motor does not have the out-of-tolerance condition within a period of time, carrying out speed-increasing regulation on the maximum speed for a plurality of times by using a second regulation threshold value until the out-of-tolerance condition of the motor occurs, and selecting the maximum speed of the motor before the out-of-tolerance condition as the running speed.
Preferably, the test module comprises a speed selection module;
the speed selection module is used for acquiring the speed causing the difference value between the test powers of different load states in the same motion state to be the maximum, and the speed is used as the specified speed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A speed control method of a device on a power transmission line robot is characterized by comprising the following steps:
measuring the power of a motor in different load states under different motion states in a transport device which operates at a constant speed within a specified speed, and marking the power as test power, wherein the load states comprise no load and load, and the motion states comprise ascending and descending;
acquiring the maximum speeds of the motor in different load states under different motion states;
when the transportation device starts to operate, the transportation device operates at a constant speed within a specified time period, and the real-time power of the motor at the moment is acquired;
selecting the corresponding test power according to the motion state of the current transport device, and judging the load state of the current transport device according to the real-time power and the test power;
and selecting a corresponding maximum speed according to the motion state and the load state, and replacing the specified speed with the maximum speed to serve as the running speed of the current transportation device.
2. The method for controlling the speed of the online device of the power transmission line robot according to claim 1, wherein the specific steps of judging the load state of the current transportation device through the real-time power and the test power are as follows:
acquiring the absolute value of the difference value between the real-time power and the test power of the load and the test power of the no-load under the same motion state;
and judging whether the absolute value of the difference value between the real-time power and the test power of the load is larger than the absolute value of the difference value between the real-time power and the test power of the no-load, if so, judging that the load state of the current transport device is the no-load, and if not, judging that the load state of the current transport device is the load.
3. The speed control method of the online device of the power transmission line robot as claimed in claim 1, further comprising the following steps;
when the transportation device takes the maximum speed as the running speed, the running state of the motor is obtained in real time, if the motor is out of tolerance, the first adjusting threshold value is used for carrying out speed reduction adjustment on the maximum speed for a plurality of times until the motor is out of tolerance;
and if the motor does not have the out-of-tolerance condition within a period of time, carrying out speed-increasing regulation on the maximum speed for a plurality of times by using a second regulation threshold value until the out-of-tolerance condition of the motor occurs, and selecting the maximum speed of the motor before the out-of-tolerance condition as the running speed.
4. The method for controlling the speed of the online device of the power transmission line robot according to claim 1, wherein the selection conditions of the specified speed are as follows: the difference between the test powers of different load states in the same motion state is the largest.
5. An automatic speed regulating system for conveying an upper line and a lower line of an inspection robot, which uses the speed control method of the on-line device of the power transmission line robot, according to any one of claims 1 to 4, is characterized by comprising the following steps: the device comprises a test module, a maximum speed acquisition module, a real-time power acquisition module, a judgment module and a selection module;
the testing module is used for testing the power of the motor in different load states in the transportation device which operates at a constant speed within a specified speed, and marking the power as testing power;
the maximum speed acquisition module is used for acquiring the maximum speeds of the motor in different load states under different motion states;
the real-time power acquisition module is used for operating at a constant speed within a specified time period when the transportation device starts to operate, and acquiring the real-time power of the motor at the moment;
the judging module is used for selecting the corresponding test power according to the motion state of the current transportation device and judging the load state of the current transportation device through the real-time power and the test power;
the selection module is used for selecting a corresponding maximum speed according to the motion state and the load state, and replacing the specified speed with the maximum speed to serve as the running speed of the current transportation device.
6. The automatic speed regulating system for the loading and unloading of the transportation inspection robot according to claim 5, wherein the judging module comprises a difference value obtaining module and a calculating module;
the difference value acquisition module is used for acquiring the absolute value of the difference value between the real-time power and the test power of the load and the test power of the no-load in the same motion state;
the calculation module is used for calculating whether the absolute value of the difference value between the real-time power and the test power of the load is larger than the absolute value of the difference value between the real-time power and the test power of the no-load, if so, the load state of the current transportation device is the load, and if not, the load state of the current transportation device is the no-load.
7. The automatic speed regulation system for the loading and unloading of a transport inspection robot according to claim 5, further comprising a regulation module;
the adjusting module is used for acquiring the running state of the motor in real time after the transportation device takes the maximum speed as the running speed, and if the motor is out of tolerance, performing speed reduction adjustment on the maximum speed for a plurality of times by using a first adjusting threshold until the motor is not out of tolerance;
and if the motor does not have the out-of-tolerance condition within a period of time, carrying out speed-increasing regulation on the maximum speed for a plurality of times by using a second regulation threshold value until the out-of-tolerance condition of the motor occurs, and selecting the maximum speed of the motor before the out-of-tolerance condition as the running speed.
8. The automatic speed regulation system for the loading and unloading of a transport inspection robot according to claim 5, wherein the testing module includes a speed selection module;
the speed selection module is used for acquiring the speed causing the difference value between the test powers of different load states in the same motion state to be the maximum, and the speed is used as the specified speed.
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Citations (6)
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| CN110788870A (en) * | 2019-11-05 | 2020-02-14 | 长沙理工大学 | Power distribution overhead line grounding wire hanging robot and operation method thereof |
| CN112736758A (en) * | 2021-01-22 | 2021-04-30 | 北京迈驰电气技术有限公司 | Wearable intelligent electric power inspection equipment |
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| CN102354930A (en) * | 2011-10-10 | 2012-02-15 | 江苏省电力公司无锡供电公司 | Four-bundle conductor traveling apparatus of 500kV transmission line |
| CN105914651A (en) * | 2016-06-01 | 2016-08-31 | 南昌大学 | Single-arm driving double-arm obstacle crossing line inspection robot |
| CN109659852A (en) * | 2017-10-10 | 2019-04-19 | 国网吉林省电力有限公司检修公司 | Overhead transmission line electrodynamic balance cabling vehicle |
| CN110125903A (en) * | 2019-05-14 | 2019-08-16 | 国网江苏省电力有限公司电力科学研究院 | Quadripartion carbon-fibre wire detects robot and system |
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| CN115042229B (en) | 2024-07-02 |
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