CN204194341U - Based on the transformer station water flushing device people of supersonic sounding - Google Patents

Abstract

The utility model discloses the transformer station water flushing device people based on supersonic sounding, comprise car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is also provided with more piece multipole telescopic arm, the forearm of more piece multipole telescopic arm is connected by the workbench of leveling cyclinder with hydraulic giant flushing machine; The hydraulic giant frame of described hydraulic giant flushing machine is connected with hydraulic giant, described hydraulic giant frame is fixed with tracking camera, immediately below tracking camera, ultrasonic distance measuring apparatus is housed.The utility model makes robot be operated in safe distance, ensures starting point and the terminal accurate positioning of rinsing track, thus improves the quality and efficiency of rinsing.

Description

Based on the transformer station water flushing device people of supersonic sounding

Technical field

The utility model relates to robot field, particularly relates to a kind of transformer station water flushing device people based on laser ranging.

Background technology

Along with the develop rapidly of industrial economy and urban construction, the continuity of power to transformer station and quality propose more and more higher requirement.But being chronically exposed in the Nature due to transmission line equipment, particularly industrialized regions, coastal and region, salt-soda soil, the impact of, dust saline and alkaline by industrial waste gas, seawater and nature, can form filth to a certain degree at its insulator surface usually.These contain the filth of salt, acid, alkaline components, in general water soluble, become electrolyte, have very strong electric conductivity after filth is water-soluble.The insulator polluted, conductance increases, and insulating properties reduce, and leakage current sharply increases, and its flashover voltage reduces greatly, now just easily dirt flashover occurs.Especially when insulator design reveal than apart from inadequate or adopt insulator can not meet filth require time, pollution flashover probably occurs.Pollution flashover accident, once occur, directly can cause user's large area, have a power failure for a long time, cause power supply reliability to decline, thus brings serious negative effect to industrial and agricultural production and resident living power utility.Prevent transmission line of electricity pollution flashover, prevent the generation of electrical network massive blackout accident, guarantee that power network safety operation and electric power are reliably supplied and just seem particularly important.

At present, Substation Insulator water flushing Problems existing is:

1, the cleaning works of Substation Insulator mainly adopts power failure hand sweeping or living water washing.Employing power failure hand sweeping quality is low, equipment cleaning works is in passive state, and can not obtain in good time cleaning, these all can cause certain hidden danger to the safe and stable operation of transformer station's transmission line of electricity.

2, the cleaning works of part Substation Insulator relies on machine to carry out, but automatization level is low, controls accurate not, thus causes the cleaning of Substation Insulator thorough not, can not meet safety requirements.

Transformer station water flushing device people based on this utility model can realize livewire work, and stability and high efficiency water rinses, and is conducive to the stable operation of electrical network.Now, the research and development of water flushing device people are like a raging fire, and about water flushing device people carry out water rinse operation time path planning problem also imperfection.

Utility model content

For solving the deficiency that prior art exists, the utility model discloses a kind of transformer station water flushing device people based on supersonic sounding, this flushing control mode is used for the path of planning that water flushing device people rinses insulator, the spacing of adjustment spray gun and insulator, regulates in flushing process and flushes out water speed formation Karman vortex street etc.Effectively can ensure robot smoothness run in flushing process, realize error and acceleration is controlled, and there is good developing result.

For achieving the above object, concrete scheme of the present utility model is as follows:

A kind of transformer station water flushing device people based on supersonic sounding, comprise car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is also provided with more piece multipole telescopic arm, the forearm of more piece multipole telescopic arm is connected by the workbench of leveling cyclinder with hydraulic giant flushing machine; The hydraulic giant frame of described hydraulic giant flushing machine is connected with hydraulic giant, described hydraulic giant frame is fixed with tracking camera, immediately below tracking camera, ultrasonic distance measuring apparatus is housed.

Described car body travel mechanism is primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, four hydraulic leg compositions of tension buffer device and both sides, left running motor and right running motor are bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connects with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the left side, chassis is diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on crawler body.

Described elevating mechanism comprises revolving dial and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, revolving dial is hinged with more piece multipole telescopic arm, large arm and the amplitude oil cylinder of revolving dial and more piece multipole telescopic arm are articulated and connected, the large arm of more piece multipole telescopic arm and linking arm and telescopic oil cylinder are articulated and connected, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm is articulated and connected, leveling cyclinder II is arranged between workbench and forearm, with workbench, forearm is articulated and connected.

Described more piece multipole telescopic arm is three joint the two poles of the earth telescopic arms, comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel, is realized the synchronization telescope of linking arm and forearm by Chain conveyer.

The large arm of described more piece multipole telescopic arm, forearm have been bolted luffing chain, and the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.

Described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, and pitching oil cylinder is bolted on oscillating oil cylinder, and oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, and hydraulic giant frame is connected with hydraulic giant.

Described hydraulic giant frame being provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, ultrasonic distance measuring apparatus being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.

Described revolving dial is also connected with the proportional control valve group of hydraulic control system; Proportional control valve group is herein upper cartridge control valve group B.

Described hydraulic system comprises bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven proportional reversing valves and four hand-operated direction valves.

Described bottom control valve group A is connected with hydraulic pump by distributing valve, controls water flushing device people four support oil cylinders complete stretching motion by four hand-operated direction valves, and two proportional reversing valves control two motors in left and right, carry out robot ambulation motion;

Described upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress revolving dial, two proportional reversing valves control large arm pitching and forearm stretching motion, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.

Described center-rotary joint is the Hydraulic Elements connecting revolving dial and chassis oil circuit, and after making revolving dial any rotation, hydraulic circuit normally can also join oil.

Described electric control system comprises onboard subsystem and remoting subsystem, onboard subsystem comprises industrial computer, the data that industrial computer is uploaded by 485 buses collection various kinds of sensors, and wireless receiver is handed down to the instruction received from remote manipulator, carry out after wireless receiver receives the data of remote manipulator processing and then being handed down to transceiver in industrial computer, by folding and the uninterrupted of the regulable control proportioning valve to magnitude of voltage, realize the motion of mobile chassis left and right wheels, forearm stretches, control that large arm pitching and revolving dial rotate.

Described multiple sensor comprises stay wire sensor, angular transducer, obliquity sensor, temperature sensor, pressure sensor, stay wire sensor are arranged between large arm and forearm, large arm and workbench are all equipped with an angular transducer and an obliquity sensor, and temperature sensor and pressure sensor are arranged on hydraulic oil container.

Voltage sensor and current sensor stay wire sensor are for measuring the collapsing length of forearm, angular transducer and obliquity sensor gather the angle-data of large arm and the gentle vertical direction of driving water and pass to industrial computer, angular transducer on workbench and obliquity sensor data are by ZIGBEE Wireless transceiver, to realize the insulation completely of tip platform, temperature sensor and pressure sensor gather the pressure data of hydraulic oil in oil temperature in hydraulic oil container and hydraulic oil container, the data collected are analog quantity, convert data signal to through A/D and pass to industrial computer through 485, voltage sensor and current sensor, magnitude of voltage in Acquisition Circuit and current value, whether the voltage in testing circuit and electric current are stablized.

Based on the transformer station water flushing device people water flushing method of supersonic sounding, comprising:

Step one: according to the relative dimensional coordinate value being arranged on the image rinsing ultrasonic range finder on platform and monitoring camera collection distance and monitoring and obtaining between current robot and insulator, whether both judgements relative distance is safe distance, if, carry out next step, if not, the position of platform is rinsed in adjustment, until this relative distance is safe distance; Determine the initial state of path planning;

Step 2: control water flushing mechanical arm to the auto-flushing of the above-below direction of insulator chain by controlling it; Realize shower nozzle by control shower nozzle to clean the insulator chain towards robot side;

Step 3: when carrying out water and rinsing, by regulating hydraulic giant water outlet bore and going out water speed, forms Karman vortex street and realizes the adjustment to insulator chain vibration frequency.

In described step 2, to the auto-flushing of the above-below direction of insulator chain, detailed process is:

(2-1) in flushing process, the angular displacement sensor be arranged on the rotating shaft of each joint collects each joint angles of initial time and end time motion arm;

(2-2) for the easy motion in single joint, lopcus function θ (t) meets constraints, determination cubic polynomial unique according to the constraint equation that constraints is corresponding;

(2-3) obtain joint velocity and the acceleration of movement locus according to this cubic polynomial, the joint velocity of movement locus and acceleration are substituted into the coefficient that constraint equation obtains cubic polynomial, this coefficient determines washing time and the relation of rinsing angle;

(2-4) the length relation over time of insulating bar in flushing process is obtained according to the length of insulating bar and cubic polynomial, to (l, d, θ ₀, θ _f) carry out interpolation, generate water flushing mechanical arm to the flushing track of the above-below direction of insulator chain.

Described constraints, wherein two is the joint angles that starting point and ending point is corresponding:

θ(0)＝θ ₀；

θ(t _f)＝θ _f；

Wherein, θ ₀, θ _ffor the joint angles of starting point and ending point;

When joint velocity in path point is non-vanishing, velocity restraint condition becomes:

θ'(0)＝θ ₀'

θ'(t _f)＝θ _f'。

By four equations of velocity restraint condition determination cubic polynomial be:

θ ₀＝a ₀

θ _f＝a ₀+a ₁t _f+a ₂t _f ²+a ₃t _f ³

θ ₀'＝a ₁

θ _f'＝a ₁+2a ₂t _f+3a ₃t _f ²

θ ₀, θ _f, θ ` <sub>0</sub>, θ ` _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

Solving equation group, can obtain the coefficient of cubic polynomial:

a ₀＝θ ₀

a ₁＝θ ₀'

$a_2=\frac{3}{{t_f}^2}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)-\frac{2}{t_f}{{\mathrm{\&theta;}}_0}^{\&prime;}-\frac{1}{t_f}{{\mathrm{\&theta;}}_f}^{\&prime;}$

$a_3=-\frac{2}{{t_f}^3}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)+\frac{1}{{t_f}^2}({{\mathrm{\&theta;}}_0}^{\&prime;}+{{\mathrm{\&theta;}}_f}^{\&prime;})$

θ ₀, θ _f, θ ` <sub>0</sub>, θ ` _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

If the joint angles at path point place of process be θ _v, the joint velocity of 2, the front and back adjacent with this point is respectively θ ₀and θ _g.From θ ₀to θ _vinterpolation cubic polynomial be:

θ(t)＝a ₁₀+a ₁₁t+a ₁₂t ²+a ₁₃t ³

From θ _vto θ _ginterpolation cubic polynomial be:

θ(t)＝a ₂₀+a ₂₁t+a ₂₂t ²+a ₂₃t ³

The time interval of above-mentioned two cubic polynomials is respectively with .To these two polynomial constraints be:

θ ₀＝a ₁₀

θ _v＝a ₁₀+a ₁₁t _f1+a ₁₂t _f1 ²+a ₁₃t _f1 ³

θ _v＝a ₂₀

θ _g＝a ₂₀+a ₂₁t _f2+a ₂₂t _f2 ²+a ₂₃t _f2 ³

0＝a ₁₁

0＝a ₂₁+2a ₂₂t _f2+3a ₂₃t _f2 ²

a ₁₁+2a ₁₂t _f1+3a ₁₃t _f1 ²＝a ₂₁

2a ₂₁+6a ₁₃t _f1＝2a ₂₂

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f1, t _f2for time parameter.

Above constraints has formed 8 linear equations containing 8 unknown numbers, for t _f1=t _f2=t _fsituation, this non trivial solution is:

a ₁₀＝θ ₀

a ₁₁＝0

$a_{12}=\frac{{120}_v-{3\mathrm{\&theta;}}_g-{9\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

$a_{13}=\frac{-{8\mathrm{\&theta;}}_v+{3\mathrm{\&theta;}}_g+{5\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

a ₂₀＝θ _v

$a_{21}=\frac{{3\mathrm{\&theta;}}_g-{3\mathrm{\&theta;}}_0}{{4t}_f}$

$a_{22}=\frac{-{120\mathrm{\&theta;}}_v+{6\mathrm{\&theta;}}_g+{6\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

$a_{23}=\frac{{8\mathrm{\&theta;}}_v-{5\mathrm{\&theta;}}_g-{3\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f, t _f1, t _f2for time parameter.

We bring the coefficient obtained into θ (t)=a thus ₁₀+ a ₁₁t+a ₁₂t ²+ a ₁₃t ³, just can obtain the time dependent relation of joint angles.

In described step 2, the insulator chain towards robot side is cleaned, adopt the circular interpolation mode of point-to-point comparison method; When carrying out circular interpolation, be initial point usually with the center of circle, the coordinate value according to circular arc Origin And Destination carries out interpolation.

Carry out interpolation according to the coordinate value of circular arc Origin And Destination to be specially: set the circular arc starting point coordinate of circular interpolation as (X ₀, Y ₀), terminal point coordinate is (X _e, Y _e), for any point (X on circular arc _i, Y _i), have: X _i ²+ Y _i ²=R ², make F=X _i ²+ Y _i ²-R ²for departure function.As F > 0, this point, outside circle, moves a step to-X-direction fortune; As F < 0, this point, in circular arc, moves a step to+Y-direction fortune; For making motion continue, F=0 is included into the situation of F > 0, moving interpolation moves along circular arc to terminal all the time.

The differentiation of circular interpolation calculates and can adopt following superposition computing:

If current point (X _i, Y _i) corresponding departure function is

F _i＝X _i ²+Y _i ²-R ²

After spray gun edge-X-direction makes a move

F _i+1＝(X _i-1) ²+Y _i ²-R ²＝F _i-2X _i+1

After spray gun edge+Y-direction makes a move

F _i+1＝X _i ²+(Y _i+1) ²-R ²＝F _i+2Y _i+1

End point judging can by n=|X _e-X ₀|+| Y _e-Y ₀| differentiate, often make a move and make n=n+1, till n=0.

To (X _i, Y _i, θ ₀, θ _f) carry out interpolation, generate the movement locus that water flushing device people is cleaned the insulator chain towards robot side.

In described step 2, the condition that Karman vortex street is formed: cylinder in a fluid, its Reynolds number meets 47<R _e<105, Reynolds number is used for characterizing fluid mobility status, with R _erepresent, R _e=ρ vl/ η, wherein v, ρ, η are respectively the flow velocity of fluid, density and viscosity coefficient, and l is a characteristic length;

Insulator chain vibration frequency is directly proportional to fluid (water) speed, is inversely proportional to the frontal width of bluff body, and Karman vortex street frequency and fluid velocity and bluff body and swirl generating body width have following relation: f=S _rv/d, wherein f is Karman vortex street frequency; S _rfor Strouhal number; V is fluid velocity; D is that bluff body heads on width;

By regulating hydraulic giant water outlet bore and going out water speed, form Karman vortex street and realize the adjustment to insulator chain vibration frequency, to produce good developing result.

Be more than the interpolation of first quartile against circular arc, the interpolation principle along inverse circular arc of other quadrant is similar to first quartile.

Path point is also regarded as " starting point " and " terminating point ", inverse kinematics is solved to these path point, obtain corresponding joint vector value, then required cubic algebraic curves function is determined, level and smooth for path point is coupled together, but the joint motions speed of these " starting points " and " terminating point " is no longer zero.

When carrying out water flushing, adjusting water outlet speed, makes Reynolds number meet 47<R _e<105, forms Karman vortex street.Vibration frequency is directly proportional to fluid velocity, is inversely proportional to the frontal width of bluff body, regulates hydraulic giant water outlet bore, realizes the adjustment to insulator chain vibration frequency, to produce good developing result.

When rinsing insulator, current are peeled off from insulator both sides, form eddy current alternately, this eddy current replaced, make the spot speed of insulator both sides current different, water velocity is different, and the instantaneous pressure that insulator both sides are subject to is also different, therefore make insulator vibrate, reach by this vibrations of insulator the effect taken out stains.By regulating hydraulic giant water outlet bore and going out water speed, form Karman vortex street and change vibration frequency, to strengthen the water developing result of water flushing device people.

The beneficial effects of the utility model:

1, the needs of operation are rinsed according to transformer station's water, design a kind of Novel transformer substation living water washing robot device, main body is made up of basic machine and remote control device, all signal transmission is carried out by wireless signal between basic machine and remote control, make flushing operating personnel away from high voltage electric field, ensure the safety of operating personnel.

2) adopt camera and ultrasonic range finder, the position that Real-Time Monitoring is current, makes robot be operated in safe distance, ensures starting point and the terminal accurate positioning of rinsing track, thus improves the quality and efficiency of rinsing.

Accompanying drawing explanation

Fig. 1 is the utility model transformer station living water washing robot architecture schematic diagram;

Structure top view when Fig. 2 is the drawing support of living water washing robot of the utility model transformer station;

Fig. 3 is the structural representation of the utility model transformer station living water washing robot working limit position;

In figure, 1, driven pulley, 2, BOGEY WHEEL, 3, tension buffer device, 4, driving wheel, 5, crawler belt, 6, crawler body, 7, proportional control valve group B, 8, revolving dial, 9, leveling cyclinder I, 10, luffing chain, 11, large arm, 12, amplitude oil cylinder, 13, stretching chain, 14, sprocket wheel, 15, workbench, 16, pitching oil cylinder, 17, hydraulic giant frame, 18, leveling cyclinder II, 19, tracking camera, 20, laser range finder, 21, hydraulic giant, 22, electric control box, 23, rear hydraulic leg I, 24, rear hydraulic leg II, 25, hydraulic oil container, 26, front hydraulic leg I, 27, front hydraulic leg II, 28, diesel fuel tanks, 29, linking arm, 30, forearm, 31, oscillating oil cylinder.

Detailed description of the invention:

Below in conjunction with accompanying drawing, the utility model is described in detail:

As Figure 1-3, living water washing robot of a kind of transformer station, main body is made up of basic machine and remote control device.Wherein, basic machine is primarily of car body travel mechanism, more piece multipole telescopic arm elevating mechanism, hydraulic giant flushing machine, hydraulic control system and electric control system composition.Car body travel mechanism is crawler-type mobile chassis structure, crawler body be diesel fuel tanks, another side is hydraulic oil container, and the power source of robot is vehicle-mounted diesel engine; Described car body travel mechanism is connected with the revolving dial 8 of elevating mechanism by pivoting support, the revolving dial 8 of elevating mechanism is also provided with more piece multipole telescopic arm, the forearm 30 of more piece multipole telescopic arm is connected with the workbench 15 of hydraulic giant flushing machine by leveling cyclinder II 18, described revolving dial 8 is also connected with the proportional control valve group of hydraulic control system; Electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem the control utilizing hydraulic control system wirelessly to complete car body travel mechanism to robot, elevating mechanism and hydraulic giant flushing machine.

Living water washing robot of transformer station operation power is originated vehicle-mounted diesel engine.Adopt self-powered source, diesel engine powers, operation in intensive battery limits can be entered, solve on-the-spot power configuration problem.

Car body travel mechanism adopts crawler-type mobile chassis structure, primarily of four hydraulic legs compositions of crawler body 6, left and right running motor, driving wheel 4, BOGEY WHEEL 2, crawler belt 5, tension buffer device 3 and both sides.The left side, chassis is diesel fuel tanks 28, and the right is hydraulic oil container 25, rear hydraulic leg I 23, rear hydraulic leg II 24, front hydraulic leg I 26, and front hydraulic leg II 27 is hinged on crawler body 6.Crawler body 6 is provided with electric control box 22.

The elevating mechanism of more piece multipole telescopic arm composition is primarily of revolving dial 8, more piece multipole telescopic arm, and levelling gear forms.Revolving dial 8 is connected with car body travel mechanism by pivoting support, and driven by rotary motor and realize revolving dial 8 and the 360 ° of continuous rotaries motions of attached each parts thereof, proportional control valve group 7 is bolted on revolving dial 8; Two-stage telescopic arm forms primarily of large arm 11, linking arm 29, forearm 30, two-stage telescopic arm is installed on revolving dial 8, large arm 11 is hinged on revolving dial 8, there is slide block linking arm 29 front and back end, slide block is connected with linking arm 29 bolt, linking arm 29 and large arm 11, forearm 30 are slidably connected, and the head of linking arm 29 installs sprocket wheel 14; Amplitude oil cylinder 12 and large arm 11, revolving dial 8 are articulated and connected, and telescopic oil cylinder and large arm 11, linking arm 29 are articulated and connected; Levelling gear forms primarily of leveling cyclinder I 9 and leveling cyclinder II 18, leveling cyclinder I 9 is arranged between revolving dial 8 and large arm 11, be articulated and connected with revolving dial 8, large arm 11, leveling cyclinder II 18 is arranged between workbench 15 and forearm 30, is articulated and connected with workbench 15, forearm 30; Luffing chain 10 is connected on large arm 11, forearm 30 by bolt, and the front end of stretching chain 13 is hinged on large arm 11 front end, walks around sprocket wheel 14, end hinged forearm 30 end.

Hydraulic giant flushing machine forms primarily of workbench 15, pitching oil cylinder 16, oscillating oil cylinder 31, hydraulic giant frame 17, hydraulic giant 21.Pitching oil cylinder 16 is bolted on oscillating oil cylinder 31, and oscillating oil cylinder 31 is bolted on workbench 15, and hydraulic giant frame 17 is hinged on pitching oil cylinder 16, and hydraulic giant 21 spiral is connected on hydraulic giant frame 17.

Robot water gun rack 17 is installed tracking camera 19, for Real Time Observation insulator water washing handling situations, the picture of real-time transmission operation field, facilitates teleworker to implement operation.Tracking camera 19 bolt is connected on hydraulic giant frame 17.Laser range finder 20 is housed immediately below tracking camera 19, and measurement hydraulic giant and water rinse the distance of operation insulator in real time, within making it remain on safety work distance.

Based on the transformer station water flushing device people water flushing method of supersonic sounding, comprise the following steps:

Step one: set up robot path planning's model; The depth distance between robot and insulator can be obtained according to the ultrasonic range finder be arranged on flushing platform, again image recognition is carried out to the picture obtained by monitoring camera, thus the D coordinates value that can obtain between robot and insulator, also can judge the relative distance between current robot and insulator simultaneously, to ensure that operation distance judges the position residing for robot within safe range, determine the initial state of path planning;

Step 2: adopt linear interpolation mode to realize the auto-flushing of water flushing mechanical arm to the above-below direction of insulator chain; Adopt the circular interpolation mode of point-to-point comparison method to realize shower nozzle to clean the insulator chain towards robot side;

Step 3: when carrying out water and rinsing, by regulating hydraulic giant water outlet bore and going out water speed, forms Karman vortex street and realizes the flushing to position on rear side of insulator chain.

Judge the relative distance between current robot and insulator according to the ultrasonic range finder rinsed on platform and monitoring camera, guarantee operation distance is within safe range and judge the position residing for robot, to determine the initial state of path planning.

Before rinsing, by the dynamics constraint condition of the constraint distance of spray gun and insulator chain when rinsing, the mode of rinsing, system, comprise joint peak acceleration, maximal rate etc. import to water flushing device people path planning control system.

Fig. 2 is 4 steps that insulator rinses: 1. upwards rinse from bottom insulator, be flushed to insulator 1/4th place, then is flushed to bottom downwards; 2. upwards rinse from bottom insulator, be flushed to insulator 1/2nd place, then be flushed to bottom downwards; 3. upwards rinse from bottom insulator, be flushed to insulator 3/4ths place, then be flushed to bottom downwards; 4. upwards rinse from bottom insulator, be flushed to insulator top, then be flushed to bottom downwards.Water flushing device people realize Fig. 2 to insulator chain 1.-4. step above-below direction rinse time, flushing start the joint angles collecting initial time and end time motion arm.For the easy motion in single joint, lopcus function at least meets four constraintss.Wherein two is the joint angles that starting point and ending point is corresponding:

θ(0)＝θ ₀

θ(t _f)＝θ _f

In order to meet the continuity requirement of joint motions speed, also have two constraintss, i.e. the joint velocity requirement of starting point and terminating point in addition, in current situations, when namely starting to rinse, regulation:

θ'(0)＝0

θ'(t _f)＝0

What the constraints on above-mentioned four borders was unique determines a cubic polynomial:

θ(t)＝a ₀+a ₁t+a ₂t ²+a ₃t ³

The joint velocity of movement locus and acceleration are:

θ'(t)＝a ₁+2a ₂t+3a ₃t ²

θ″(t)＝2a ₂+6a ₃t

Substitute into corresponding constraint equation, obtain relevant coefficient a ₀, a ₁, a ₂, a ₃, can obtain:

a ₀＝θ ₀

a ₁＝0

$a_2=\frac{3}{{t_f}^2}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)$

$a_3=-\frac{2}{{t_f}^3}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)$

Determine the relation of time and angle thus, when a flush, specifically certain relative to insulator of car body, is set to, can obtains the length l=d/sin θ of insulating bar, bring formula θ (t)=a into ₀+ a ₁t+a ₂t ²+ a ₃t ³, relation over time can be obtained in flushing process:

$l\left(t\right)=\frac{d}{\sin (a_0+a_{1}t+a_2{t}^2+a_3{t}^3)}$

To (l, d, θ ₀, θ _f) carry out interpolation, generate water flushing mechanical arm to the flushing track of the above-below direction of insulator chain.

Joint velocity in path point can set as required, thus, determines that the method for cubic polynomial is just identical with described in linear interpolation, and just velocity restraint condition becomes:

θ'(0)＝θ ₀'

θ'(t _f)＝θ _f'

Determine that four equations of cubic polynomial are:

θ ₀＝a ₀

θ _f＝a ₀+a ₁t _f+a ₂t _f ²+a ₃t _f ³

θ ₀'＝a ₁

θ _f'＝a ₁+2a ₂t _f+3a ₃t _f ²

θ ₀, θ _f, θ ` <sub>0</sub>, θ ` _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

Solving equation group, can obtain the coefficient of cubic polynomial:

a ₀＝θ ₀

a ₁＝θ ₀'

$a_2=\frac{3}{{t_f}^2}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)-\frac{2}{t_f}{{\mathrm{\&theta;}}_0}^{\&prime;}-\frac{1}{t_f}{{\mathrm{\&theta;}}_f}^{\&prime;}$

$a_3=-\frac{2}{{t_f}^3}({\mathrm{\&theta;}}_f-{\mathrm{\&theta;}}_0)+\frac{1}{{t_f}^2}({{\mathrm{\&theta;}}_0}^{\&prime;}+{{\mathrm{\&theta;}}_f}^{\&prime;})$

θ ₀, θ _f, θ ` <sub>0</sub>, θ ` _fbe respectively starting point and time parameter t _fthe angle in moment and angular speed, a ₀, a ₁, a ₂, a ₃for undetermined coefficient.

The cubic polynomial determined thus describes the movement locus that starting point and terminating point have any given position and speed, remaining issues is exactly the joint velocity how determined in path point, in systems in which in order to ensure that acceleration in each path point is continuous, control system can the speed of selecting paths point automatically as requested.Continuous in order to ensure the acceleration of path point, can to couple together according to certain rule at path point place with two cubic curves in order to try and scrabble up required track, its constraints is: junction not only speed continuously, and acceleration is also continuous.

If the joint angles at path point place of process be θ _v, the joint velocity of 2, the front and back adjacent with this point is respectively θ ₀and θ _g.From θ ₀to θ _vinterpolation cubic polynomial be:

θ(t)＝a ₁₀+a ₁₁t+a ₁₂t ²+a ₁₃t ³

From θ _vto θ _ginterpolation cubic polynomial be:

θ(t)＝a ₂₀+a ₂₁t+a ₂₂t ²+a ₂₃t ³

The time interval of above-mentioned two cubic polynomials is respectively [0, t _f1] and [0, t _f2].To these two polynomial constraints be:

θ ₀＝a ₁₀

θ _v＝a ₁₀+a ₁₁t _f1+a ₁₂t _f1 ²+a ₁₃t _f1 ³

θ _v＝a ₂₀

θ _g＝a ₂₀+a ₂₁t _f2+a ₂₂t _f2 ²+a ₂₃t _f2 ³

0＝a ₁₁

0＝a ₂₁+2a ₂₂t _f2+3a ₂₃t _f2 ²

a ₁₁+2a ₁₂t _f1+3a ₁₃t _f1 ²＝a ₂₁

2a ₂₁+6a ₁₃t _f1＝2a ₂₂

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f1, t _f2for time parameter.

Above constraints has formed 8 linear equations containing 8 unknown numbers, for t _f1=t _f2=t _fsituation, this non trivial solution is:

a ₁₀＝θ ₀

a ₁₁＝0

$a_{12}=\frac{{120}_v-{3\mathrm{\&theta;}}_g-{9\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

$a_{13}=\frac{-{8\mathrm{\&theta;}}_v+{3\mathrm{\&theta;}}_g+{5\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

a ₂₀＝θ _v

$a_{21}=\frac{{3\mathrm{\&theta;}}_g-{3\mathrm{\&theta;}}_0}{{4t}_f}$

$a_{22}=\frac{-{120\mathrm{\&theta;}}_v+{6\mathrm{\&theta;}}_g+{6\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

$a_{23}=\frac{{8\mathrm{\&theta;}}_v-{5\mathrm{\&theta;}}_g-{3\mathrm{\&theta;}}_0}{{{4t}_f}^2}$

A _ij, i=1,2, j=0,1,2,3, be undetermined coefficient, t _f, t _f1, t _f2for time parameter.

We bring the coefficient obtained into θ (t)=a thus ₁₀+ a ₁₁t+a ₁₂t ²+ a ₁₃t ³, just can obtain the time dependent relation of joint angles.

To (X _i, Y _i, θ ₀, θ _f) carry out interpolation, generate the movement locus that water flushing device people is cleaned the insulator chain towards robot side.

For guaranteeing that shower nozzle can clean the insulator chain towards robot side, namely in Fig. 2 1.-2., 2.-3., 3.-middle transition process 4., adopts the circular interpolation mode of point-to-point comparison method.When carrying out circular interpolation, be initial point usually with the center of circle, the coordinate value according to circular arc Origin And Destination carries out interpolation.

If the circular arc starting point coordinate of circular interpolation is (X ₀, Y ₀), terminal point coordinate is (X _e, Y _e), for any point (X on circular arc _i, Y _i), have: X _i ²+ Y _i ²=R ², make F=X _i ²+ Y _i ²-R ²for departure function.As F > 0, this point, outside circle, moves a step to-X-direction fortune; As F < 0, this point, in circular arc, moves a step to+Y-direction fortune; For making motion continue, F=0 is included into the situation of F > 0, moving interpolation moves along circular arc to terminal all the time.The differentiation of circular interpolation calculates and can adopt following superposition computing:

If current point (X _i, Y _i) corresponding departure function is

F _i＝X _i ²+Y _i ²-R ²

After spray gun edge-X-direction makes a move

F _i+1＝(X _i-1) ²+Y _i ²-R ²＝F _i-2X _i+1

After spray gun edge+Y-direction makes a move

F _i+1＝X _i ²+(Y _i+1) ²-R ²＝F _i+2Y _i+1

End point judging can by n=|X _e-X ₀|+| Y _e-Y ₀| differentiate, often make a move and make n=n+1, till n=0.

Be more than the interpolation of first quartile against circular arc, the interpolation principle along inverse circular arc of other quadrant is similar to first quartile.

Path point is also regarded as " starting point " and " terminating point ", inverse kinematics is solved to these path point, obtain corresponding joint vector value, then required cubic algebraic curves function is determined, level and smooth for path point is coupled together, but the joint motions speed of these " starting points " and " terminating point " is no longer zero.

When carrying out water flushing, adjusting water outlet speed, makes Reynolds number meet 47<R _e<105, forms Karman vortex street.Vibration frequency is directly proportional to fluid velocity, is inversely proportional to the frontal width of bluff body, regulates hydraulic giant water outlet bore, realizes the adjustment to insulator chain vibration frequency, to produce good developing result.

By above step, the water providing a kind of transformer station water flushing device people rinses control mode, and the method can realize the accurate control that water flushing device people rinses operation, ensures the quality of rinsing, and reduces the potential safety hazard of livewire work, improves operating efficiency.

Claims (10)

1. the transformer station water flushing device people based on supersonic sounding, it is characterized in that, comprise car body travel mechanism, car body travel mechanism is crawler-type mobile chassis structure, described car body travel mechanism is connected with the revolving dial of elevating mechanism by pivoting support, the revolving dial of elevating mechanism is also provided with more piece multipole telescopic arm, the forearm of more piece multipole telescopic arm is connected by the workbench of leveling cyclinder with hydraulic giant flushing machine; The hydraulic giant frame of described hydraulic giant flushing machine is connected with hydraulic giant, described hydraulic giant frame is fixed with tracking camera, immediately below tracking camera, ultrasonic distance measuring apparatus is housed.

2. as claimed in claim 1 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described car body travel mechanism is primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, four hydraulic leg compositions of tension buffer device and both sides, left running motor and right running motor are bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connects with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within driving wheel, driven pulley, the outside of BOGEY WHEEL and tension buffer device, the left side, chassis is diesel fuel tanks, the right is hydraulic oil container, hydraulic leg is hinged on crawler body.

3. as claimed in claim 1 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described elevating mechanism comprises revolving dial and levelling gear, revolving dial is connected with car body travel mechanism by pivoting support, revolving dial is hinged with more piece multipole telescopic arm, large arm and the amplitude oil cylinder of revolving dial and more piece multipole telescopic arm are articulated and connected, the large arm of more piece multipole telescopic arm and linking arm and telescopic oil cylinder are articulated and connected, levelling gear comprises leveling cyclinder I and leveling cyclinder II, leveling cyclinder I is arranged between revolving dial and large arm, with revolving dial, large arm is articulated and connected, leveling cyclinder II is arranged between workbench and forearm, with workbench, forearm is articulated and connected.

4. as claimed in claim 1 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described more piece multipole telescopic arm is three joint the two poles of the earth telescopic arms, comprise large arm, linking arm and forearm, large arm is hinged on revolving dial, and linking arm front and back ends is provided with slide block, slide block is connected with linking arm bolt, linking arm is slidably connected by slide block and large arm, forearm, and the head of linking arm is provided with sprocket wheel, is realized the synchronization telescope of linking arm and forearm by Chain conveyer.

5. as claimed in claim 1 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, the large arm of described more piece multipole telescopic arm, forearm have been bolted luffing chain, the front end that sprocket wheel and stretching chain are walked around in large arm front end is hinged, and end and the forearm end of stretching chain are hinged.

6. as claimed in claim 1 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described hydraulic giant flushing machine comprises pitching oil cylinder and oscillating oil cylinder, pitching oil cylinder is bolted on oscillating oil cylinder, oscillating oil cylinder is bolted on the table, pitching oil cylinder is hinged with hydraulic giant frame, hydraulic giant frame is connected with hydraulic giant.

7. as claimed in claim 6 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described hydraulic giant frame is provided with tracking camera by bolt, for Real Time Observation insulator water washing handling situations, immediately below tracking camera, ultrasonic distance measuring apparatus being housed, rinsing the distance of operation insulator for measuring hydraulic giant and water in real time.

8., as claimed in claim 4 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described revolving dial is also connected with the proportional control valve group of hydraulic control system; Proportional control valve group is herein upper cartridge control valve group B;

Described hydraulic system comprises bottom control valve group A, upper cartridge control valve group B and center-rotary joint, has seven proportional reversing valves and four hand-operated direction valves.

9. as claimed in claim 8 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described bottom control valve group A is connected with hydraulic pump by distributing valve, control water flushing device people four support oil cylinders by four hand-operated direction valves and complete stretching motion, two proportional reversing valves control two motors in left and right, carry out robot ambulation motion.

10. as claimed in claim 8 based on the transformer station water flushing device people of supersonic sounding, it is characterized in that, described upper cartridge control valve group B controls switching push button, distributing valve through center-rotary joint, upper dress, is connected with hydraulic pump successively, rotary motor is controlled by a proportional reversing valve, complete the rotary motion of dress revolving dial, two proportional reversing valves control large arm pitching and forearm stretching motion, and another two proportional reversing valves realize horizontal movement and the elevating movement of hydraulic giant by horizontal hunting oil cylinder and vertical oscillation oil cylinder.