Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
  • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
  • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Definitions

• Insulator string detection robot system
• the invention relates to an insulator string detecting robot system for detecting the tensile tower insulator string. Background technique
• the safe and stable operation of the power grid has received more and more attention.
• 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.
• the insulator string can be divided into a vertical insulator string and a horizontal insulator string, and a tilt insulator string.
• the vertical insulator string is not absolutely vertical, but a certain angular range in the vertical direction. Both can be called vertical insulator strings.
• 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.
• an insulator detecting robot with a double track wheel structure 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.
• robots such as track and wheel structures are not suitable for the detection of vertical insulator strings.
• 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
• 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
• 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.
• 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
• 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.
• 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.
• 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.
• the jaw structure is slower and the detection efficiency is lower.
• detection robots need to be tested in the event of a power failure, affecting the normal operation of the line.
• 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:
• 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
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• the frame of the climbing arm before and after the connection
• 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.
• 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.
• the senor in order to make the climbing arm run more smoothly and reliably, 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.
• 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.
• 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.
• 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.
• 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
• the above-mentioned insulator string intelligent detecting robot is mainly embodied on the carrier.
• 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.
• 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
• 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;
• 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;
• 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;
• the detection robot adopts the same direction operation, double string simultaneous detection mode, and detects the insulation piece information
• FIG. 1 is a schematic structural view of an insulator string intelligent detecting robot according to the present invention.
• FIG. 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.
• FIG. 11 Electrical system control block diagram.
• 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;
• remote remote intelligent MCU 62
• remote control power system 63
• remote remote display 64
• remote remote storage 65
• wireless Wi-Fi module 64
• central control master MCU 67
• detection module 68
• motion drive module 69
• system indication and alarm system 69
• 71 represents the central control unit
• 72 represents the information acquisition module
• 73 represents the motion driver I
• 74 represents the motion driver ⁇
• 75 represents the speed feedback encoder I
• 76 represents the speed feedback encoder II
• 77 represents the wireless signal receiving module
• 78 represents the detection
• the instrument triggers the control module
• Ml stands for DC motor I
• M2 stands for DC motor II.
• 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.
• 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.
• a one-side driving manner is provided on one side of the mechanism in the traveling direction, as shown in FIG.
• 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.
• 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.
• 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.
• 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.
• the climbing arm 50 is an axisymmetric rod orthogonally connected to the driving shaft and based on the axis of the driving shaft.
• 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.
• 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.
• the structure thereof is relatively simple, and will not be described herein.
• 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.
• 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.
• 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.
• 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.
• 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.
• feedforward control 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.
• 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.
• 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.
• the guiding device 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.
• 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.
• 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.
• auxiliary support sled 9 As shown in Fig. 1, a semi-enclosed structure is formed, which can form a reliable constraint.
• 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.
• 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.
• the elastic part is connected to the front and rear of the sled hinge point.
• 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.
• the rigid connection also enables reliable operation and better operational stability.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• a position detecting sensor is provided on a motor shaft, or a position detecting sensor is simultaneously provided on the two motor shafts.
• 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.
• the difference in corner angle between the two sets of climbing arms 50 is 90 degrees to obtain a reasonable sustained driving force.
• 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.
• 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.
• 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.
• 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.
• 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.
• the senor 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.
• 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.
• 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 .
• 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.
• the motor shaft 41 is rotated in the form of a gear.
• 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.
• 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.
• the robot 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.
• 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.
• 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.
• 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.
• 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.
• control terminal may also be provided with an alarm system.
• alarm system 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 ⁇ 74 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 ⁇ 76, and realizes the closed-loop control of the speed of the two-axis motor through the classical PID algorithm.
• 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.
• 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.
• the image processing system is also included:
• the detecting robot 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.
• 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.
• 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.
• 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.
• MSR multi-scale Retinex
• 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.
• 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.
• 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; ⁇ 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.
• 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.
• a and b are simply distinguished here.
• 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.
• 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.
• 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.
• the electrical control system controls the motor shaft a to rotate at an angular velocity V at a constant speed.
• 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- ⁇ ).
• 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). .
• the required time is the motor shaft a is rotated at an angular velocity V by an angle (90-oc) °.
• the electrical control system 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 ⁇ .
• 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 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.
• 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.
• the front and rear adjustments can also be made by the structure of the sleeve fit.
• 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.
• 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.
• a computer device which may be a personal computer, a server, or a network communication device such as a media gateway, etc.
• 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.
• 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.

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• 2013
  • 2013-01-11 CN CN201310010428.XA patent/CN103091579B/zh active Active
  • 2013-12-16 BR BR112015016252-5A patent/BR112015016252B1/pt active IP Right Grant
  • 2013-12-16 WO PCT/CN2013/089568 patent/WO2014108017A1/zh active Application Filing

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