WO2014108017A1 - Detection robot system of insulator strings - Google Patents

Abstract

An intelligent detection robot system of insulator strings, which is used for detecting horizontal strain twin insulator strings and comprises a robot motion system and an information processing system. The part of the robot motion system comprises: a mechanism connection plate (2); a climbing apparatus (5); a guiding apparatus for guiding insulator strings, which is provided on two sides of an advancing direction of the mechanism connection plate (2) and matches the twin insulator strings to be detected; a detection device (8), which is provided on the mechanism connection plate (2), a control unit, which outputs a driving apparatus being connected to the climbing apparatus (5), so as to control the angle deviation between one front group and one rear group of climbing arms (50); and a man-machine control terminal, which is communicatively connected to the control unit through a wireless communication unit, so as to remotely control the climbing apparatus (5). The robot system is compact in structure and fast in movement speed.

Description

 Insulator string detection robot system

Technical field

 The invention relates to an insulator string detecting robot system for detecting the tensile tower insulator string. Background technique

 With the continuous development of China's power system, the safe and stable operation of the power grid has received more and more attention. Especially in the ultra-high voltage and ultra-high voltage transmission systems that have been vigorously developed in recent years, the safe operation of the insulator directly determines the investment and safety level of the whole system. To ensure the electrical safety of the high-voltage transmission line, after the high-voltage transmission line is used for a period of time, It is necessary to detect the electrical performance of the line, especially the insulation safety of the insulator, to prevent short circuit or open circuit.

 The insulator is an insulating component used for connecting the conductor to the tower on the overhead high-voltage transmission line. It has two basic functions, namely support and prevention of current return to the ground. These two functions must be guaranteed. The insulator should not change due to environmental and electrical load conditions. It causes various electrical stresses to fail, otherwise the insulator will not produce the required effect, which will damage the use and operating life of the entire line.

 According to the installation structure, the insulator string can be divided into a vertical insulator string and a horizontal insulator string, and a tilt insulator string. Of course, due to the installation requirements, generally, the vertical insulator string is not absolutely vertical, but a certain angular range in the vertical direction. Both can be called vertical insulator strings. It is obvious that the robot applied to the vertical insulator substring detection overcomes the gravitational force of the earth and climbs for the structural characteristics of the insulator string. The basic structural feature is that the insulator string has several sections, and the section usually has a body space.

 A tower that is subjected to wire tension by suspending a wire or a split wire with a tensile insulator string is called a tensile tower, and is a tower that pulls the wire in a substantially horizontal direction. Of course, due to the influence of gravity, it is not absolutely horizontal. The insulator string referred to here is basically a horizontal insulator string on the tension tower.

With the need for the promotion of humanized operations and the development of intelligent robots, more and more intelligent robots are currently used for power line inspection or equipment detection. In the utility model patent of Chinese Patent No. CN201331558Y, an insulator detecting robot with a double track wheel structure is disclosed for detecting the horizontal double insulator string, which crosses the body space through the crawler and passes through the blocking devices on both sides. Guide the direction of travel. However, it is obvious that robots such as track and wheel structures are not suitable for the detection of vertical insulator strings. In order to ensure reliable operation of the robot, it is usually necessary to assist the guiding structure in the traveling direction, and the structure is complicated. Another obvious point is that there are many insulator strings. It is a porcelain piece with a very smooth surface, making it difficult for the robot to get a good driving environment.

 The utility model patent CN202013392U discloses a robot which can be used for vertical insulator sub-string detection, which comprises two annular brackets arranged symmetrically, and two ring brackets are respectively provided with a crawling mechanism, and two crawling mechanisms pass through the connecting plate In order to adapt to the climbing on the vertical insulator string, the crawling mechanism comprises two rails arranged symmetrically, and the two rails are respectively provided with a kick mechanism; and the kick mechanism further comprises a sliding device and a swinging device, and the sliding device comprises a sliding setting In the slider slider on the guide rail, the swinging device comprises a swinging key sleeve, and the swinging key sleeve is connected to the kicking slider through the bearing, and the structure is complicated; and in actual use, a series of motions are required to cooperate, which is inevitable The connection problem of a sports link is relatively inefficient. In addition, its shape is relatively large, it is difficult to carry, and high-voltage lines are mostly in the wild. The inconvenience of carrying defects will seriously affect the convenience of its practical use.

 The Chinese Patent No. CN1165775C discloses a robot having a ring bracket that can be sleeved around the periphery of the insulator body, and a crawling mechanism and a detecting probe are disposed on the ring bracket. Obviously, since the two ends of the insulator string are connected, the ring bracket is set at The insulator string needs to be matched by the auxiliary structure, otherwise the package cannot be completed. The auxiliary structure, such as two or more sections and the structure of the counterpart, causes the complexity of its own structure. In addition, it still adopts a rail-type structure and cooperates with the claw structure, and the volume is still relatively large, and the body is bulky and difficult to carry. At the same time, the jaw structure is slower and the detection efficiency is lower. Usually, such detection robots need to be tested in the event of a power failure, affecting the normal operation of the line.

Summary of the invention

 SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a robotic system for the detection of tensile tower insulator strings with a compact structure and fast moving speed.

 An insulator string intelligent detection robot system for detecting horizontal tensile double-insulator strings, including a robot motion system and an information processing system.

 The robot motion system part includes:

 Institutional linkage

 The climbing device is disposed at least on a side of the mechanism in the traveling direction, and the climbing device has a climbing arm of a front and a rear group; wherein the climbing arm has a driving shaft connected to the middle thereof and the driving shaft axis is a reference axisymmetric rod;

a guiding device for guiding the insulator string, disposed on both sides of the mechanism connecting plate in the traveling direction, Matching the double insulator string to be detected;

 Detecting device, disposed on the mechanism connecting plate;

 a control unit that outputs a driving device connected to the climbing device to control a difference in corner angle between each of the front and rear climbing arms;

 The human-machine control terminal is in communication connection with the control unit through the wireless communication unit to remotely control the climbing device.

 According to the above-mentioned insulator string intelligent detecting robot system of the present invention, the structure of the climbing arm driving is adopted, and the two pairs of climbing arms are alternately driven, and the running speed depends on the rotating speed of the climbing arm, and the rotating speed is not affected by the insulator itself. The influence of the structure can thus achieve the required detection speed. The climbing arm is a rod, the structure is relatively simple, the overall structure is compact, and it is convenient to carry, so that it has a wider range of use.

 In a further improved solution, the above-mentioned insulator string intelligent detection robot system is more compact when the climbing device is disposed on one side of the mechanism in the traveling direction, or only on one side of the climbing device. The guiding device then includes a first guiding portion disposed on the underside of the climbing device, which further simplifies the structure.

 In the above-mentioned insulator string intelligent detection robot system, the first guiding portion includes four sleds arranged in an isosceles trapezoidal shape in the circumferential direction of the insulator string to be detected, and integrally forms a V-shaped groove structure, matching the equivalent cylindrical surface of the insulator string, and has reliable The guiding performance, and the length of the skid skateboard surface is greater than one pitch of the insulator string and less than three times the pitch, so that the shorted insulator is less when the normal use is satisfied.

 Further, regarding the insulator string intelligent detecting robot system, the sled slider length is twice the pitch of the insulative substring, and the reliability of the operation is ensured while satisfying the compact structure.

 Furthermore, the V-groove structure formed as described above, in the above-described insulator string intelligent detection robot, may further include that the portion of the insulator string that is joined to the guide portion is 180 degrees or less and 120 degrees or more. And the guiding portion is a plane symmetrical structure based on the vertical plane, and forms a form in which the two sides constrain the gravitational force to form a reliable guiding and positional restraint.

Preferably, each set of climbing arms has two climbing arms, and the two climbing arms are symmetrically arranged with the vertical surface as a reference surface, and are distributed on both sides of the book symmetry plane of the insulator string, forming an inward and balanced pair. The squeezing force, while gaining the forward momentum, forms its own guiding effect. And the frame of the climbing arm before and after the connection For the frame with telescopic structure, the adaptive design of the double-axis and the double-string spacing of the climbing mechanism is realized, thereby solving the use of the insulator string detecting robot on different voltage levels and different lines.

 Further, in the above-mentioned insulator string intelligent detecting robot system, one of the two sets of climbing arms is provided with a sensor for detecting the corner of the climbing arm to feedbackly control the rotation speed of the climbing arm to make the climbing device run more smoothly.

 Preferably, the above-mentioned insulator string intelligent detection robot system, in order to make the climbing arm run more smoothly and reliably, the sensor has a pair for positional feedback of the climbing arm in the circumferential direction, thereby dividing the axial direction of the climbing arm into two Interval, with feedback to control the speed of the set of climbing arms in different sections, and the other set of climbing arms to control the speed.

 Preferably, the above-mentioned insulator string intelligent detection robot system, the difference of the angle between the two sets of climbing arms is controlled by the motor differential motion control or the delay motion directly output by the control unit, so that the difference between the two groups of climbing arms is Change within a predetermined interval around 90 degrees to ensure the reliability of the drive.

 A preferred structure, the above-described insulator string intelligent detection robot system, the detection device includes a detection type detection device and a detection device for detecting an insulator resistance, wherein the detection device includes a pair of probes connected through a synchronization link, A steering gear that drives the synchronization link to swing the probe.

 Preferably, the above-mentioned insulator string intelligent detection robot system further includes a visible light camera connected to the control unit for more convenient control of the robot, and is configured with an image processing unit to identify edge position information of the insulator string, and output control The position of the climbing device on the insulator string. Therefore, when detecting the edge information position, the detecting robot can detect the stopping of the robot on the insulator string according to the insulator, capture the device image through the carried visible light camera, and perform image processing and pattern recognition on the device image, and identify The edge position information of the insulator string is output, thereby realizing the determination of the edge position information of the insulator string detecting robot on the insulator string.

 The above-mentioned insulator string intelligent detecting robot is mainly embodied on the carrier. When the carrier satisfies the condition of reliable operation on the tensile tower insulator string, it is obvious that the detecting device can configure many available detecting accordingly. device.

 According to the above scheme, in order to more clearly understand the above scheme, in combination with the preferred embodiment, further selection can match the following advantages:

1. The support base and the support frame of the motor shaft are mounted on the front and rear of the main body with adjustable telescopic structure. Meter, can adapt to insulator strings with different structural heights;

 2. The body structure part of the bracket arm adopts an adjustable telescopic structure and an easy-to-replace structure design to adapt to the insulator string with different structure height and disk diameter;

 3. Adopt intelligent control system design to improve the adaptability of operation in different directions before and after;

 4, using wireless monitoring technology, using a handheld terminal to remotely control the robot body operation;

 5. Using remote image management technology, the robot body video acquisition information is passed through the terminal video playback device, and the robot motion state video and the insulator slice image information are simultaneously observed;

 6. Using pattern recognition technology, analyzing and detecting the insulator image information collected by the robot motion, analyzing and determining the relative position of the detection robot on the insulator string;

 7. Edge detection technology, using sensor fusion technology combining ultrasonic sensor, photoelectric sensor and pattern recognition technology to determine the edge position information on the insulator string;

 8. Synchronous detection technology, the detection robot adopts the same direction operation, double string simultaneous detection mode, and detects the insulation piece information;

 9. Carrying insulation resistance detection equipment or distributed voltage detection equipment or magnetic field distribution detection equipment for detection.

 BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are set forth in the description of the claims Other drawings may also be obtained from these drawings without the use of creative labor.

 1 is a schematic structural view of an insulator string intelligent detecting robot according to the present invention.

 2 is a schematic structural view of a detecting device.

 Figure 3 is a schematic view showing the structure of a climbing device.

 Figure 4 is a block diagram of the wireless communication module.

 Figure 5 is a block diagram of the control system of the insulator string detection robot.

 Fig. 6 is a structural layout diagram of the insulator string detecting robot.

 Figure 7 is a functional layout diagram of the insulator string detecting robot.

 Figure 8 is a flow chart of the motion control of the insulator string detecting robot.

Fig. 9 is a flow chart showing the initialization of the insulator string detecting robot. Figure 10 shows the interaction steps between the insulator substring detection robot and the background control system.

 Figure 11 Electrical system control block diagram.

 In the picture: 1. Tester, 2. Mechanism connection board, 3. Power supply, 4. Transfer block, 5. Climbing device, 6. Protective cover, 7. Communication antenna, 8. Detection device, 9. Auxiliary support sled , 10. Ultrasound and photoelectric sensors, 11 auxiliary connection stations, 12 micro-visible cameras;

 21. Synchronous connecting rod, 22. Supporting fixed seat, 23. Rudder base, 24. Servo, 25. Probe connecting rod, 26. Probe, 27. Servo linkage 28. Detection and drying;

 41. Motor shaft, 42. roller, 43. support seat, 44. bearing end cover, 45. shaft end cover, 46. support frame, 47. motor, 48. limit switch, 49. P-position seat, 50. Climbing arm, 51. Positioning table, 52. Large gear, 53. Pinion, 54. Motor base, 55. Arm frame, 56. Bearing;

 61 remote remote intelligent MCU, 62 represents remote control power system, 63 represents remote remote display, 64 represents remote remote storage, 65 represents wireless Wi-Fi module, 66 represents central control master MCU, 67 represents detection module , 68 represents the motion drive module, 69 represents the system indication and alarm system;

 71 represents the central control unit, 72 represents the information acquisition module, 73 represents the motion driver I, 74 represents the motion driver Π, 75 represents the speed feedback encoder I, 76 represents the speed feedback encoder II, 77 represents the wireless signal receiving module, and 78 represents the detection The instrument triggers the control module, Ml stands for DC motor I, and M2 stands for DC motor II.

detailed description

 The embodiments of the present invention are further described in detail below in conjunction with the drawings and embodiments. It should be understood that the focus of the present invention is on the improvement of the carrier, and the detector 1 and the detecting device 8 as shown in FIG. 1 are used as the mounted articles on the carrier, and the platform is reliably matched. In the case of sex, those skilled in the art should be aware of the manner in which they are mounted. Therefore, in the present description, the carrier will be described relatively briefly, and those skilled in the art can easily ascertain it according to the related art in the art.

 At the same time, it should be understood that the robot system here is a typical electromechanical product, including a mechanical part and a control part, wherein the control part may also be called an electric part.

It should be noted that, in this paper, such as the guiding device, it is separated from the two sides of the mechanism, but it does not necessarily indicate The guiding parts on both sides adopt the same principle and the same structure, and do not necessarily represent absolute symmetry.

 It should be noted that in this paper, if the mechanism is connected, it functions as a mounting platform for the mounted object, and does not necessarily mean that it is a plate type. Therefore, in this paper, the terms used are mainly used for specific purposes and the technology to be solved. The expression of the question is not directly limited by its name.

 In some embodiments, the mechanical portion of the insulator string intelligent detection robot system shown in FIG. 1 is used for the detection of horizontal tensile double-insulator strings, which includes:

 The mechanism is connected to the carrier 2 and used as the carrier and the connecting body, and as shown in Fig. 1, for the double insulator string, the carrier is preferably distributed in the middle of the insulator string (double-connected umbrellas in series) In the gap, the center of gravity is guaranteed to fall into the middle of the two insulator strings, and the running stability is better. It should be noted that the structure is such that the width of the mechanism 2 is constrained by the space between the double insulator strings, but it is not an absolute constraint. As shown in Fig. 1, the mechanism 2 is received by the rest of the robot. The main structure is placed above the double insulator string.

 The double-string synchronous detection technology of the insulator eliminates the influence of the positional deviation of the insulator string on the detection, and improves the working efficiency of the detection robot and the detection accuracy of the zero-value insulator.

 The robot is configured with a climbing device 5, which provides a driving force for the carrier, and is configured in two basic manners. In some embodiments, a one-side driving manner is provided on one side of the mechanism in the traveling direction, as shown in FIG. As shown in FIG. 3, the climbing device 5 is connected to the mechanism connecting plate 2 through the support frame 46, and the single-side driving mode is simple in structure, and can be configured by the climbing arm 50 having the front and rear groups as the climbing device. , balance the torque generated by the unilateral drive to ensure reliable operation of the climbing device.

 In other embodiments, the bilateral driving mode may be adopted, that is, the climbing device is also disposed symmetrically on the other side of the mechanism connecting plate 2. This structure has better driving performance, but the structure is relatively complicated, and needs to be guaranteed. Synchronization of the two sides of the drive.

Obviously, in order to meet the continuous driving, the two sets of climbing arms always have a set of acts on an insulator when climbing, and the structurally more specific performance is that the center distance of the front and rear climbing arms 50 needs to satisfy the insulator string pitch. And the outer contour of the insulator, which is easily calculated by those skilled in the art. In a further application, the climbing device can be configured in a front-rear adjustable structure to form a structure in which the center distance of the climbing arm is adjustable, such as the support frame 46 and the frame between the front and rear motor shafts 41 as shown in FIG. The adjustable connection structure is connected, for example, the support frame 46 is a sleeve, and the frame is a shaft-fitted shaft, and the movable connection of the sleeve is restrained by, for example, a jacking screw, thereby forming an adjustable structure form, thereby satisfying each Species Detection of insulators from the outer and outer contours.

 In some embodiments, as shown in FIG. 3, the climbing arm 50 is an axisymmetric rod orthogonally connected to the driving shaft and based on the axis of the driving shaft. As shown in FIG. 3, the motor shaft 41 is connected to the body, climbing The middle portion of the crawler arm 50 is coupled to the motor shaft to be driven.

 In other embodiments, the climbing arm 50 and the drive shaft, such as the motor shaft 41 shown in FIG. 3, do not necessarily adopt an orthogonal structure, and the motor shaft 41 is used as a connection basis, and the outwardly radiating climbing arm may be biased. Fold a certain angle to match the distance between the pair of opposing left and right rollers 42 as shown in FIG.

 Regarding the driving, mainly the driving of the motor shaft 41, the structure thereof is relatively simple, and will not be described herein. As shown in FIG. 3, the climbing arms of each group before and after are equipped with independent motor 47 driving mode, the synchronization guarantees that other control modes need to be added, and in other embodiments, the synchronous structure can be synchronously controlled. For example, the gear transmission, and the structural form of the gear transmission, can ensure that the two sets of climbing devices have a relatively fixed rotation angle, which makes it easier to ensure the sustainability of the driving force. Of course, the independent motor-driven structure shown in FIG. It is also very easy to adjust its corners, which is well understood by those skilled in the art.

 At the same time, it should be understood that in the existing driving mode of the robot, the pre-synchronous driving is generally understood to be that the synchronous driving is an option here, and the other option is asynchronous driving, but at the same time, it should be understood that In the turnaround cycle, the pair of front and rear climbing arms are synchronized, but not necessarily synchronized in one cycle.

 Wherein, the control unit, the central control unit 71 shown in FIG. 5 outputs a motor connected to the motor shaft 41 to control the working state of the climbing arm. One of the simplest options is feedforward control, and the structure is simple, To ensure control accuracy, as shown in Figure 5, closed loop control is preferred. Even with feedforward control, the required speed matching can be achieved by simply setting the drive section.

 As a general description, including the human-centered control terminal, only a brief description will be given here. In the following content, the control unit and the human-machine control terminal are generally provided in the field of the insulator string detecting robot. Obviously, in the basic configuration, Those skilled in the art do not need to work creatively to complete the corresponding configuration.

For such robots, reliable guides should be provided for guiding the insulator strings. In the structure shown in Figure 1, the double insulator strings are matched, and the guides are placed on the mechanism. On both sides of the direction, for this purpose, the second paragraph of this part has been selected and described. In some embodiments, the same guiding device as shown in Figure 1 will be used, as shown in Figure 1. Support the sled 9.

 Regarding the detecting device, it is provided on the mechanism connecting plate, and the corresponding detecting device can be mounted according to the matching function detection.

 When the climbing device 5 is disposed on a side of the mechanism in the traveling direction, the guiding device includes a first guiding portion disposed on a lower side of the climbing device 5, as shown in FIG. A set of auxiliary support skis 9 are provided on the underside of the climbing device 5.

 It should be noted that in the insulator string to which the present invention is applied, the robot is attached to the insulator string by gravity, and therefore, the problem of the center of gravity and the balance of the left and right needs to be considered in terms of operational stability.

 Of course, as long as the center of gravity falls in the middle of the double insulator string, the balance problem is usually not a problem, but the more the center of gravity is on the side, the worse the stability, but because the weight of the climbing device 5 is large, However, due to the counter-force during climbing, there will be some offset. Moreover, the climbing device is placed on the heavier side and is easier to drive when driving.

 With regard to the auxiliary support sled 9 as shown in Fig. 1, a semi-enclosed structure is formed, which can form a reliable constraint. Obviously, when the auxiliary support sled 9 as shown in Fig. 1 is provided on one side, the other side can be relatively simple. The guiding portion, such as a sliding plate, or a single sled, is correspondingly located on the upper busbar side of the side insulator string, and can also be on the outer side of the insulator string on the side, and obviously can also play a good supporting role. Its guiding role can be in a secondary position, with emphasis on supporting effects to simplify the structure.

 Further, regarding the aforementioned semi-enclosed structure of the auxiliary support ski 9 as shown in FIG. 1, the first guide portion includes four sleds arranged in an isosceles trapezoid in the circumferential direction of the insulator string to be inspected, and the sled The length of the skateboard surface is greater than one pitch of the insulator string and less than three times the pitch to meet the reliable operation. The ski has a double-end warped structure to meet the forward and backward movement guidance.

The sled can be rigidly connected, maintaining the structure as shown in Fig. 1, or the structure of the middle hinge connection by the elastic part, so that the sled has the function of pitching forward and backward. Correspondingly, the elastic part is connected to the front and rear of the sled hinge point. On the side, a reset structure is formed, and when the sled is short, such as one pitch, the adaptive pitch control is used to ensure reliable operation of the robot. It should be understood that the rigid connection also enables reliable operation and better operational stability. In order to meet the smoothness of the operation, it is clear that the double pitch ensures that the sled has two points at the outer edge of the two insulators at any stage, and the stability can be guaranteed. The structure is also compact, and only two insulators are shorted at the same time. When the pitch is greater than one pitch and less than twice the pitch, the sled terminates at most two insulators.

 Obviously, operating stability is better than twice the pitch and less than three times the pitch, but the structure is slightly longer, but only two insulators are terminated for most of the time period.

 With regard to the semi-enclosed structure, if the connector between the skis has sufficient elastic deformation capability, the semi-enclosure can be greater than 180 degrees, such as using a spring piece for the connection between the same side sleds, so that a better Operational reliability, low vibration, and relatively small impact on the mounted electronic equipment.

 For convenience of use, the portion where the insulator string is joined to the guiding portion is 180 degrees or more and 120 degrees or more, and the guiding portion is a plane symmetrical structure based on the vertical surface to form a reliable clamping position.

 Further, in order to satisfy the reliability of the driving, each group of climbing arms 50 has two climbing arms, and the two climbing arms are arranged symmetrically with respect to the vertical plane, so that the driving device itself has a certain guiding effect.

 Preferably, the two sets of climbing arms 50 are driven synchronously, and each set of climbing arms is synchronously driven by the motor shaft 41 in series, as shown in FIG.

 Preferably, in order to reduce damage to the insulator, the end of the climbing arm is a spherical structure, or the roller 42 as shown in Fig. 3 is used, and the sliding friction is rolling friction.

 Further, in order to better control the operation of the robot, a position detecting sensor is provided on a motor shaft, or a position detecting sensor is simultaneously provided on the two motor shafts. Regarding the position detecting sensor, a small encoder can be used, and for accurate detection, for example, a limit switch 48 is provided in the rack, and a positioning table 51 is provided on the climbing arm 50, through the predetermined phase of the two. The interaction produces a detection of the position.

 In some embodiments, the difference in corner angle between the two sets of climbing arms 50 is 90 degrees to obtain a reasonable sustained driving force.

Further, in order to adapt to different types of insulator pieces, the difference of the angle between the two sets of climbing arms 50 can be adjusted by the differential motion control of the motor 47 or the delay motion control, so that the difference between the two sets of climbing arms 50 is around 90 degrees. Adjust for a smoother drive. As in the insulator string intelligent detector When the person moves forward in the direction of the movement of the insulator string, the difference between the angles of the two sets of climbing arms 50 is a certain value near 90 degrees, and the fixed value needs to be set according to the actual insulator string, when the intelligent detection robot in the insulator string is along the insulator string. When the moving direction is reversely moved, the differential motion control adjustment of the motor 47 or the delay motion control adjustment is performed, so that the difference between the two sets of climbing arms 50 is another value near 90 degrees, which is easily understood by those skilled in the art. Simplify the description. For example, when the insulator string intelligently detects that the robot moves in the insulator string, according to the insulator string circuit, the difference between the two sets of climbing arms 50 is adjusted by the differential motion control of the motor 47, or the delay motion control is adjusted to a value near 90 degrees. This type of motion mode has better driving performance, but the control is relatively complicated, and the synchronization of the movement of the climbing arm 50 needs to be implemented.

 In a more preferred embodiment, after a long period of research, the inventors have proposed a better control method. The matching hardware configuration is that one of the two sets of climbing arms 50 is provided with a sensor for detecting the angle of the climbing arm, The feedback controls the rotational speed of the climbing arm such that the climbing arm hook speed control of the sensor is not configured, and the climbing arm configured with the sensor can adopt another control mode based on the sensor.

 Regarding the sensor, it can be a separate encoder, and the structure is compact, but the cost is high. Another way is to select two sensors with the nature of the shape switch, which is low in cost and simple in structure, and in the other way, only position control is required. Obviously, the aforementioned encoder can accurately determine the position by the collection of the corners.

 By means of the sensor, the double-arm alternating climbing climbing technology is used to solve the limitation of the height of the insulator string on the overhead transmission line equalizing ring, and the integrity of the insulator inspection state is realized.

 Regarding the mounting equipment, it has already been described in the previous section. The focus here is on the installation of the equipment on the mechanism 2 to reduce the center of gravity and to distribute the load as evenly as possible. As shown in FIG. 1, the detecting device includes a detecting device 8 for detecting the resistance of the insulator disposed on the upper side detector 1 of the mechanism connecting plate 2 and the lower side. Since the detecting device 8 is a movable member, it is installed under the mechanism connecting plate 2 The side can be more stable when it is active. To avoid elbows, the power supply 3 on the robot can be placed on the upper side of the mechanism 2 .

As for the detecting device, as shown in Figs. 1 and 2, a pair of probes 26 are suspended, and a swinging structure is formed by driving the synchronous link 21 that is orthogonally connected to the root of the probe, and when used, it can swing to either side in the forward direction. The detection of the insulator on the swing side is completed. The detecting device is connected to the lower side of the mechanism connecting plate 2 through a supporting fixing seat 22 constituting the frame thereof, and a steering gear 24 can directly connect the synchronous connection f 21 or The motor is driven by connecting a servo 27 to a probe 26 via a steering gear.

 Further, in order to simplify the model, when the synchronous transmission is involved, the motor shaft 41 is rotated in the form of a gear. As shown in FIG. 1, the motor 47 is driven by a monopole gear composed of a large gear 52 and a pinion 53. A transmission structure for the movement, which has the same effect as the synchronous belt transmission, the flexible shaft transmission, the chain transmission and the corresponding transmission mode, is not illustrated here, but is within the scope of this patent. At the same time, the driving motor can also be driven by the intermediate motor shaft to drive the two end drive shafts, or simultaneously drive the motor shafts at both ends through two motors. The motion effect is the same as described in the paper, which is driven by the intermediate motor shaft, or At the same time, the drive shafts of both ends are driven by two motors respectively, which are within the scope of protection and protection described herein.

 In a further application, in order to ensure the reliable operation of the robot, it can assist the multi-sensor based on laser, ultrasound, vision, etc., and integrate the corresponding detection data to realize the anti-drop warning control of the insulator robot.

 In the following content, the focus is on the hardware configuration of the control mode in the prior art. First, the basic structure is described:

 The schematic diagram of the wireless communication module shown in FIG. 4 is used for communication between the human-machine control terminal and the robot side, and includes:

 The wireless communication module, such as the wireless Wi-Fi module shown in FIG. 4, includes a control unit on the control end, a memory and a display connected to the control unit, and a receiving or controlled end is a communication control unit for controlling communication, wireless The communication module is based on a duplex communication mode.

 In the above wireless communication module, the control unit is a remote controller smart as shown in FIG.

The MCU61 can also be used with other embedded controllers.

 The above wireless communication module has an independent power supply at the control end to ensure the stability of operation. In addition, since in most cases, the man-machine control terminal needs to be portable, the power source may be an onboard battery, the remote controller power supply system 62 as shown in FIG. 4, or may be a piggyback type external battery. .

 The controlled terminal, the central control master MCU66 can be directly connected to the motion drive module 68 for manual control, and the detection module 67 is configured for insulator detection. Of course, the central control master MCU here is mainly used for communication, and the indication and alarm system 69 of the communication indication can be configured.

In the above wireless communication module, the control terminal may also be provided with an alarm system. In Figure 5, it is the robot side, or the controlled end control system:

 The wireless signal receiving module 77 receives the control command from the upper computer or the remote controller, and transmits the control command to the central control unit 71. The central control unit 71 drives the motion control 173 and the motion driver Π74 respectively by analyzing the control commands. The DC motor M1 and the DC motor M2, at the same time, the central control unit receives the speed information fed back from the speed feedback encoder 175 and the speed feedback encoder Π76, and realizes the closed-loop control of the speed of the two-axis motor through the classical PID algorithm. In the above structure, each of the motor shafts 41 before and after the two DC motors are matched, based on the matching control of the front and rear motor shafts 41, the angular difference control of the front and rear climbing arms and the respective speed control are performed.

 In order to ensure the climbing effect and overcome the disadvantage of large installation error of the insulator string, the central control unit 71 receives the position information fed back from the information acquisition module, and realizes the closed-loop control of the single-axis motor position by judging the position of the robot to achieve the double-axis. The purpose of angle correction is to ensure stable climbing.

 Further related to the solution, the image processing system is also included:

 When detecting the edge information position, the detecting robot can detect the stopping of the robot on the insulator string according to the insulator, capture the device image through the carried visible light camera, and perform image processing and pattern recognition on the device image to identify the insulator. The edge position information of the string, thereby realizing the determination of the position information of the edge of the insulator string detecting robot on the insulator string.

 According to the preferred embodiment of the insulator string intelligent detecting robot shown in Figs. 1 to 3, and in conjunction with the drawings 8-10 of the specification, the detecting method is:

 The tensile tower insulator intelligent detection robot is placed on the insulator string by the staff, as shown in Figure 1, forming a detection set. The wireless communication module of the mounted controller receives the worker's control command and returns to the initial motion position. The initial position is characterized by the front drive bracket being in a vertical state and simultaneously inserted into the space between adjacent strings of insulators, and the rear drive bracket is horizontal. The orthogonal state formed by this horizontal and vertical relationship is an initial state. As described above, the angle difference is around 90 degrees, and it is not necessarily 90 degrees. This article does not refer to the design of a specific angle. Again, this paper proposes a hardware configuration using position control to obtain a better control method.

Based on visible light camera and infrared camera, the insulator string state detection technology based on multi-scale Retinex (MSR) algorithm pattern can solve the problem of difficult identification in strong outdoor environment, and realize the appearance integrity inspection of insulator sheets and insulator strings. Line end and pole end limit position Identify.

 The specific action is that the motor 47 rotates to drive the motor shaft 41 to rotate, specifically, the motor shaft 41 rotates by the meshing motion between the pinion 53 and the large gear 52; further, the roller 42 of the current end inserted into the adjacent insulator contacts the rear insulator. When a forward thrust is inevitably generated, it is apparent that the insulator string intelligent detecting robot interacts with the insulator when the insulator is placed, so that it can only perform one-way motion on the insulator, specifically, because the front end is inserted adjacently. When the roller 42 in the insulator is in contact with the rear insulator thereof, the insulator string intelligently detects the forward movement of the robot, and at the same time, when the current end is inserted into the adjacent insulator and the roller 42 is in contact with the rear insulator, the corresponding position of the rear end is driven. The wheel must be in contact with the rear insulator, and further, the above motion process is completed; 艮 obviously moving through the driving motor, inevitably drives the insulator string to intelligently detect the forward movement of the robot; on the contrary, when the motor 47 receives the reverse direction motion command, the insulator string is also Intelligent detector Completion of the movement of people through, thereby enabling the detection of the insulator string intelligent robot walking backward movement is completed. Further, when the insulator string intelligent inspection robot moves to a specified position, the detection of the insulator is completed by detecting the action of the insulator.

 As shown in Fig. 11, the motor shaft a initial position detecting sensor mounting position and the motor shaft b initial position detecting sensor mounting position are 90° in the space coordinate system, and the motor shaft b starts the low speed rotating position sensor mounting and the motor shaft b. The high-speed rotational position sensor is mounted in a parallel state with an acute angle oc with the X-axis. Here, to distinguish the front and rear motor shafts, a and b are simply distinguished here.

In some embodiments, the electrical control system sends a drive signal to the motor to control the motor shaft a and the motor shaft b to rotate so that the climbing arm is at an initial angle of 90°, and the motor is controlled by the electrical control system in an initial state. The rotation of the shaft b to the motor shaft b starts the low speed rotation position sensor; here the low speed rotation position sensor matches the high speed rotation position sensor below, and is used for the critical control of the high and low speed conversion; the climbing arm and the motor shaft a attached to the motor shaft b are attached The angle of the climbing arm is less than 90°, that is, the angle is (90-oc) °. The electrical control system uses the classic pid control algorithm to output the control signal of the motor to which the motor shaft a belongs, and the control motor drives the motor shaft a to the angular velocity V. Rotating at a constant speed, the same electrical control system uses the classic pid control algorithm to control the rotation of the motor shaft b at the same angular velocity V as the motor shaft a, thus controlling the climbing arm on the motor shaft a to be at an acute angle to the climbing arm on the motor shaft b (90 -oc) ° and obtuse angle (90+oc). Run alternately. However, this type of control also causes the robot to run into an accident. Therefore, simply changing the initial angle between the rotation of the motor shaft a and the motor shaft b cannot change the insulator. Detect the adaptability of the robot to the environment.

 In a preferred embodiment, it is provided that the electrical control system controls the motor shaft a to rotate at an angular velocity V at a constant speed. By changing the rotational angular velocity of the motor shaft b, the original rotational angle of the motor shaft a angular velocity V is also divided. In the two regions that rotate at two angular speeds, the angle between the climbing arm of the robot motor shaft a and the climbing arm of the motor shaft b is always maintained at (90-α). . Motor shaft b The operating angles of the slow angular velocity zone and the fast angular velocity zone are (90-oc), respectively. And (90+oc). . Since the motor shaft a rotates together with the motor shaft b, the time taken for the motor shaft b to rotate through the angle of the slow angular velocity region is the time when the motor shaft a is rotated by the angular velocity V (90 + oc) ° tl = ( 90 + oc) / v, according to the motor shaft b rotating through the slow angular velocity zone requires time tl to calculate the motor shaft b slow angular velocity is vl = (90-oc) I (90 + oc) * v; when the motor shaft b turns over the fast angle zone The required time is the motor shaft a is rotated at an angular velocity V by an angle (90-oc) °. The time t2=( 90-oc) /v is used to calculate the motor shaft b according to the time t2 when the motor shaft b rotates through the fast angular velocity zone. The angular velocity is v2 = (90+oc) I (90-oc) *v.

 When the electrical control system receives the valid information of the motor shaft b low speed sensor signal, the electrical control system passes the classical pid control algorithm, so that the motor shaft b rotation angle is always vl hook speed rotation; the electric control system receives the start motor shaft b fast sensor When the signal is valid, the electric control system adopts the classic pid control algorithm, so that the rotation angle of the motor shaft b is always the v2 hook speed rotation. After the speed adjustment, the speed adjustment is completed once, and a cycle change control is completed, and the motion period is always guaranteed. The insulator detection robot uses safe and stable operation on the insulator string, and the operation adaptive performance of the edge intelligent robot. The insulation string for different grades can enhance the operation adaptability and smooth operation by adjusting the angle α.

 The control method shown in Fig. 10 is used more in general robot remote control, and the robot grasping and recognizing the current device in step 4 is the method proposed by the inventor to assist the robot.

 The control mode of the robot has been clearly shown in the drawings 8-10 of the specification, and will not be described herein. In addition, as shown in Fig. 3, the support base 43 has a plurality of through holes in the array, and the support frame 46 selects different through holes for connection, thereby realizing the spacing adjustment between the front and rear motor shafts.

 In some embodiments, only a threaded hole may be formed in the support frame 46, and the support base 43 is a plate member, and the support frame is locked by a top screw fitted to the threaded hole, so that stepless adjustment can be achieved.

In some embodiments, the front and rear adjustments can also be made by the structure of the sleeve fit. In still other embodiments, the adjustment of the distance between the two motor shafts may be performed by using a lead screw structure, wherein the lead screw is fixedly disposed, and the silk core carries a set of motor shafts to form a mother sleeve structure. It can be clearly understood by those skilled in the art that all or part of the steps in the foregoing embodiment may be implemented by means of software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a storage medium such as a ROM/RAM or a disk. , an optical disk, etc., comprising instructions for causing a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to perform the various embodiments of the present invention or portions of the embodiments described herein. method. The same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment. The apparatus and system embodiments described above are merely illustrative, and may or may not be physical units as separate components, ie may be located in one place, or may be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

 The above description is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Any modifications, equivalents, improvements, etc. made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

Rights request

1. An intelligent insulator string detection robot system, used for the detection of horizontal tensile strength double insulator strings, which is characterized by including:

Mechanism linkage (2);

The climbing device (5) is at least provided on one side of the mechanism connecting the lever in the direction of travel, and the climbing device has a set of climbing arms (50) at the front and rear; wherein the climbing arms are connected to a drive shaft in the middle. And it is an axially symmetrical rod based on the axis of the drive shaft;

Guide devices, used to guide the insulator string, are arranged on both sides of the mechanism connecting lever in the direction of travel, matching the double insulator string to be tested;

Testing equipment is installed on the connecting rod of the mechanism;

A control unit that outputs a driving device connected to the climbing device (5) to control the angle difference between a set of climbing arms at the front and rear; and

The human-machine control terminal communicates with the control unit through a wireless communication unit to remotely control the climbing device.

2. The insulator string intelligent detection robot system according to claim 1, characterized in that when the climbing device (5) is disposed on one side of the mechanism in the direction of travel, the guide device includes The first guide part is provided on the lower side of the climbing device (5).

3. The intelligent robot system for detecting insulator strings according to claim 2, characterized in that, the first guide part includes four sleds arranged in an isosceles trapezoid shape in the circumferential direction of the insulator string to be detected, and the length of the sled plate is greater than The insulator string has one pitch but less than three times the pitch.

4. The insulator string intelligent detection robot system according to claim 4, characterized in that the part where the insulator string joins the guide part is less than or equal to 180 degrees and greater than or equal to 120 degrees, and the guide part is oriented with a vertical plane as The plane-symmetric structure as the basis.

5. The insulator string intelligent detection robot system according to claim 1, characterized in that each group of climbing arms (50) has two climbing arms, and the two climbing arms are arranged symmetrically with the vertical plane as the reference plane; The frame body connecting the front and rear climbing arms is a frame body with a telescopic structure.

6. The insulator string intelligent detection robot system according to any one of claims 1 to 5, characterized in that one of the two sets of climbing arms (50) is equipped with a sensor for detecting the climbing arm angle, and uses feedback to control the climbing arm. The speed of the climbing arm.

7. The insulator string intelligent detection robot system according to claim 6, characterized in that there is a pair of said sensors for circumferential position feedback of the climbing arm, thereby dividing the axial direction of the climbing arm into two intervals. Feedback is used to control the speed matching of this group of climbing arms in different intervals, while the other group of climbing arms is controlled at a constant speed.

8. The insulator string intelligent detection robot system according to claim 7, characterized in that the rotation angle difference between the two groups of climbing arms (50) is controlled by the differential motion of the motor (47) or the delay output directly by the control unit. Motion control is used to make the difference in rotation angles of the front and rear sets of climbing arms change within a predetermined range near 90 degrees.

9. The insulator string intelligent detection robot system according to claim 1, characterized in that, the detection equipment includes detection equipment and a detection device (8) for detecting insulator resistance, wherein the detection device includes a synchronous A pair of probes (26) connected by the connecting rod (21), and a steering gear (24) that drives the synchronized connecting rod (21) to swing the probes.

10. The insulator string intelligent inspection robot system according to claim 1, further comprising a visible light camera connected to the control unit and configured with an image processing unit to identify edge position information of the insulator string and output control The position of the climbing device on the insulator string.