110kV输电线路自动巡检机器人系统的研究
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摘要
为保证高压输电线路的安全稳定运行,对输电线路定期巡检是非常必要的。目前,基本上仍采用人工沿输电线逐塔巡视的作业方式,作业劳动强度大、费用高且危险性大。随着机器人技术的发展,开发一种能取代人工巡检方式的输电线路自动巡检机器人的时机已经成熟,本文主要针对110kV高压输电线路自动巡检机器人开展研究工作。
本文首先介绍了巡检机器人的国内外研究状况,对一些典型的巡检机器人样机进行了较为详细地描述,并提出了巡检机器人需要解决的一些关键技术。
针对110kV高压输电线路的实际情况和障碍物类型,设计出了一种全新的输电线路自动巡检机器人的机械结构。并提出了一种可进行实时控制的CCD迭代算法,对机器人的逆运动学进行了分析,仿真结果表明这种迭代算法具有较强的适用性和非常好地收敛性,特别适合于在线计算,便于巡检机器人的实时运动控制,同时也验证了机构设计的合理性和可行性。
针对巡检机器人关节多、运行环境复杂和传感器信息多样的特点,采用“基于知识库的自主控制”和“基于视觉的遥控主从控制”的混合控制方法较好地解决了复杂环境下机器人难以控制的问题。在自主控制方式下,采用了分层递阶的控制结构,通过合理的任务分配及协调,实现了机器人自主爬行,自主越障。
为解决输电线路巡检机器人的能源问题,设计出了用于高压架空输电线路的自具电源及智能电池充电一体化装置。它不仅能将高压架空输电导线周围的磁能转化为电能,直接为外接负载供电;而且还可以通过充电电路对备用电池充电,消除了频繁更换电池对巡检工作的影响,极大地提高了巡检效率。
针对实验模拟线路复杂的背景,根据典型障碍物的形状差异,综合利用多种图像处理技术和一套抗干扰能力强,速度快,基于最大隶属函数原则的模糊模式障碍物识别算法,实现了对输电线路典型障碍物准确、可靠地识别。
针对输电线断股信号的非平稳性质和小波基的时频特征,选用db4小波基对断股信号进行了6层小波分解。通过引入小波能量熵,较好地解决了单纯采用小波变换带来的诸如分解信息量大,故障特征值数目多、提取困难,难以实现在线检测与诊断的问题。利用较小规模的BP网络就实现了对铝绞导线断股的实时在线精确诊断。系统实验证明了这种基于小波熵的断股检测和诊断方法的可行性和有效性。
In order to guarantee the safe and steady operation of high-voltage power transmission line, it is necessary to inspect it periodically. At present manual inspection along the transmission line tower by tower is usually used to do it. It is laborious, high cost and dangerous. Now as the development of robot technology, it is necessary to develop line-inspecting robot, which aims at the relief of workload. This paper focuses on 110kV high voltage transmission line inspecting robot.
Firstly, the researches on inspection robot are introduced, especially some typical robot prototypes. And some key technologies of inspection robot are proposed.
Aim at the actual conditions and the type of obstacles of 110kV high voltage transmission line, an overall new mechanical configuration is designed. Then a Cyclic-Coordinate Descent iterative algorithm was introduced, the inverse kinematics of the robot was analyzed. Simulated experiment shows the recursion algorithm is strong compatible and well convergent. It is well compatible for on-line computation and propitious to the kinematics controlling of inspection robot. And the feasibility of the mechanical configuration is validated simultaneously.
About the characteristics of multi-joint inspection robot's complicated operating environment and various sensor information, hybrid control method which was self-control based on repository plus remote master-slave control based on sight was adopted to successfully resolve the problems that were hard for robots to control. Under the self-control mode, robot's independent creep and crossing obstacle were realized, with layered hierarchical control structure adopted and tasks reasonably allocated and coordinated.
To resolve the energy problem caused by inspection robot for transmission line, a integrated device was designed to charge up Self-supplying Power Source and intelligent battery of high-voltage overhead power transmission lines. It can not only changes magnetism energy around the high voltage transmission lines into energy, to supply power for external load, but also charge backup battery by charging circuit. So it eliminated the infection on inspection work caused by changing battery frequently, inspection efficiency was enhanced greatly.
Aiming at the complex context of experiment simulation line, According to the shape difference of typical obstacles, many kinds of image processing technologies and a suit of strong anti-jamming, high speed fuzzy model obstacle recognition algorithm based on the principle of the largest membership function were integrated to realize the accurate, reliable identification for the typical obstacles to transmission line.
Broken signal is decomposed by six level wavelet using db4 wavelet base, aiming at the non-stationary nature of strand broken signal and the time-frequency character of wavelet bases. In order to resolve problems caused by simply adopting wavelet transform, such as more decomposition information, too many eigenvalues that hard to extract, and difficulties to realize online inspection and diagnosis, the wavelet energy entropy is introduced in the paper. When smaller BP network is adopted, the online precise diagnosis to the aluminum stranded conductor strand broken by inspection robot will be realized. System experiment shows the feasibility and the validity of the method of strand broken detection and diagnosis based on wavelet entropy.
本文首先介绍了巡检机器人的国内外研究状况,对一些典型的巡检机器人样机进行了较为详细地描述,并提出了巡检机器人需要解决的一些关键技术。
针对110kV高压输电线路的实际情况和障碍物类型,设计出了一种全新的输电线路自动巡检机器人的机械结构。并提出了一种可进行实时控制的CCD迭代算法,对机器人的逆运动学进行了分析,仿真结果表明这种迭代算法具有较强的适用性和非常好地收敛性,特别适合于在线计算,便于巡检机器人的实时运动控制,同时也验证了机构设计的合理性和可行性。
针对巡检机器人关节多、运行环境复杂和传感器信息多样的特点,采用“基于知识库的自主控制”和“基于视觉的遥控主从控制”的混合控制方法较好地解决了复杂环境下机器人难以控制的问题。在自主控制方式下,采用了分层递阶的控制结构,通过合理的任务分配及协调,实现了机器人自主爬行,自主越障。
为解决输电线路巡检机器人的能源问题,设计出了用于高压架空输电线路的自具电源及智能电池充电一体化装置。它不仅能将高压架空输电导线周围的磁能转化为电能,直接为外接负载供电;而且还可以通过充电电路对备用电池充电,消除了频繁更换电池对巡检工作的影响,极大地提高了巡检效率。
针对实验模拟线路复杂的背景,根据典型障碍物的形状差异,综合利用多种图像处理技术和一套抗干扰能力强,速度快,基于最大隶属函数原则的模糊模式障碍物识别算法,实现了对输电线路典型障碍物准确、可靠地识别。
针对输电线断股信号的非平稳性质和小波基的时频特征,选用db4小波基对断股信号进行了6层小波分解。通过引入小波能量熵,较好地解决了单纯采用小波变换带来的诸如分解信息量大,故障特征值数目多、提取困难,难以实现在线检测与诊断的问题。利用较小规模的BP网络就实现了对铝绞导线断股的实时在线精确诊断。系统实验证明了这种基于小波熵的断股检测和诊断方法的可行性和有效性。
In order to guarantee the safe and steady operation of high-voltage power transmission line, it is necessary to inspect it periodically. At present manual inspection along the transmission line tower by tower is usually used to do it. It is laborious, high cost and dangerous. Now as the development of robot technology, it is necessary to develop line-inspecting robot, which aims at the relief of workload. This paper focuses on 110kV high voltage transmission line inspecting robot.
Firstly, the researches on inspection robot are introduced, especially some typical robot prototypes. And some key technologies of inspection robot are proposed.
Aim at the actual conditions and the type of obstacles of 110kV high voltage transmission line, an overall new mechanical configuration is designed. Then a Cyclic-Coordinate Descent iterative algorithm was introduced, the inverse kinematics of the robot was analyzed. Simulated experiment shows the recursion algorithm is strong compatible and well convergent. It is well compatible for on-line computation and propitious to the kinematics controlling of inspection robot. And the feasibility of the mechanical configuration is validated simultaneously.
About the characteristics of multi-joint inspection robot's complicated operating environment and various sensor information, hybrid control method which was self-control based on repository plus remote master-slave control based on sight was adopted to successfully resolve the problems that were hard for robots to control. Under the self-control mode, robot's independent creep and crossing obstacle were realized, with layered hierarchical control structure adopted and tasks reasonably allocated and coordinated.
To resolve the energy problem caused by inspection robot for transmission line, a integrated device was designed to charge up Self-supplying Power Source and intelligent battery of high-voltage overhead power transmission lines. It can not only changes magnetism energy around the high voltage transmission lines into energy, to supply power for external load, but also charge backup battery by charging circuit. So it eliminated the infection on inspection work caused by changing battery frequently, inspection efficiency was enhanced greatly.
Aiming at the complex context of experiment simulation line, According to the shape difference of typical obstacles, many kinds of image processing technologies and a suit of strong anti-jamming, high speed fuzzy model obstacle recognition algorithm based on the principle of the largest membership function were integrated to realize the accurate, reliable identification for the typical obstacles to transmission line.
Broken signal is decomposed by six level wavelet using db4 wavelet base, aiming at the non-stationary nature of strand broken signal and the time-frequency character of wavelet bases. In order to resolve problems caused by simply adopting wavelet transform, such as more decomposition information, too many eigenvalues that hard to extract, and difficulties to realize online inspection and diagnosis, the wavelet energy entropy is introduced in the paper. When smaller BP network is adopted, the online precise diagnosis to the aluminum stranded conductor strand broken by inspection robot will be realized. System experiment shows the feasibility and the validity of the method of strand broken detection and diagnosis based on wavelet entropy.
引文
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