CN110928337B - Bare conductor insulation coating robot system and lifting control method thereof - Google Patents
Bare conductor insulation coating robot system and lifting control method thereof Download PDFInfo
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- CN110928337B CN110928337B CN201911218497.3A CN201911218497A CN110928337B CN 110928337 B CN110928337 B CN 110928337B CN 201911218497 A CN201911218497 A CN 201911218497A CN 110928337 B CN110928337 B CN 110928337B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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Abstract
The invention discloses a bare conductor insulation coating robot system and a lifting control method thereof, wherein the bare conductor insulation coating robot system is subjected to data initialization, and a monitoring device is used for carrying out interface display on state data of a coating device; the monitoring device sends an ascending/descending instruction to the coating device; a control module of the coating device receives an ascending/descending instruction and periodically acquires angular motion data through an angular motion detection module; the control module presets the lifting control position as a lifting point, carries out leveling calculation according to the angular motion data and the lifting point to obtain a leveling result, and outputs the leveling result to the lifting module; the lifting module receives the leveling result to level and returns state data to the monitoring device; the monitoring device receives the returned state data and updates the interface display; through the arrangement, the balance state of the coating device is periodically and automatically adjusted, so that the dynamic balance of the coating device in the lifting or descending process is kept, manual leveling is not needed, the operation is convenient, and the coating device is convenient to mount.
Description
Technical Field
The invention relates to the field of cable coating, in particular to a bare conductor insulation coating robot system and a lifting control method thereof.
Background
Early overhead power lines generally adopt a bare wire form, and if the power lines are hung with sundries such as kites and plastics by accident, short circuits between high-voltage power lines are easily caused, so accidents such as accidental power failure are caused, and therefore insulation transformation needs to be carried out on the part of bare wire power grids, and the overhead bare wires are replaced by insulated wires.
The domestic topography is complicated and complicated, and the construction degree of difficulty of part area does not possess the construction condition even greatly, and the work of changing insulated wire is difficult to expand, and has the power off time long, the safe risk is big, reform transform with high costs the problem. With the development of the technology, an insulating coating robot is used for insulating coating operation, the overhead bare wire is subjected to insulating coating, replacement is not needed, and the transformation difficulty is reduced.
The existing insulation coating robot is often mounted on a bare wire needing insulation coating operation through manual work, certain safety risk exists for constructors, and the use is inconvenient. If a mechanical mounting mode is adopted, no matter manual remote control or mechanical automatic mounting is adopted, in order to ensure successful mounting of the insulating coating robot on the bare wires, the balance of the insulating coating robot in the lifting process needs to be ensured.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a bare conductor insulation coating robot system and a lifting control method thereof, which aims to realize automatic adjustment and dynamic balance maintenance during the lifting process of a coating device, and facilitate the mounting on an electric wire.
In order to achieve the purpose, the invention adopts the following technical scheme:
a lifting control method of a bare conductor insulation coating robot system comprises the following steps: step SO 1: initializing data of the bare conductor insulation coating robot system, and displaying the state data of the coating device on an interface by a monitoring device; step S02: the monitoring device sends an ascending/descending instruction to the coating device; step S03: a control module of the coating device receives the ascending/descending instruction and periodically acquires angular motion data of the coating device through an angular motion detection module; step S04: the control module presets a lifting control position on the coating device as a lifting point, carries out leveling calculation according to the angular motion data and the lifting point to obtain a leveling result, and outputs the leveling result to a lifting module of the coating device; step S05; the lifting module receives the leveling result to level and returns state data to the monitoring device; step S06: the monitoring device receives the returned status data and updates the interface display.
The lifting control method of the bare conductor insulation coating robot system comprises the following steps that four lifting points are arranged on a coating device, and a rectangular plane is formed on the coating device and serves as a reference coordinate system.
The lifting control method of the bare conductor insulation coating robot system comprises the following steps of obtaining angular motion data of a rectangular plane, wherein the angular motion data comprise a Roll angle and a Pitch angle which take the rectangular plane as a reference coordinate system.
The lifting control method of the bare conductor insulation coating robot system comprises the following steps: superposing the Roll angle and the Pitch angle to obtain the horizontal angle deviation amount of the rectangular plane so as to calculate the leveling deviation amount of the four lifting points; according to the Roll angle and the Pitch angle, the lifting speed values of the four lifting points are respectively obtained through PID calculation; and calculating to obtain the corresponding adjustment speed values of the four lifting points as leveling results according to the leveling deviation values of the four lifting points and the corresponding lifting speed values.
In the method for controlling the lifting of the bare conductor insulation coating robot system, when the lifting module does not return the status data or an error occurs when the status data is returned, the status data is discarded and the process returns to the step S03.
The lifting control method of the bare conductor insulation coating robot system is characterized in that wireless communication is adopted between the monitoring device and the coating device.
A bare conductor insulation coating robot system is characterized by comprising a monitoring device and a coating device in communication connection with the monitoring device; a display screen is arranged on the monitoring device; the coating device comprises a rack, and a coating module, a walking module, a control module, a lifting module and an angular motion detection module which are arranged on the rack; the bare wire insulation coating robot system performs the lifting control method of the bare wire insulation coating robot system as described above.
Has the advantages that:
compared with the prior art, the bare conductor insulation coating robot system and the lifting control method thereof have the advantages that the lifting point is set, the angular motion data is periodically acquired, the leveling calculation is carried out according to the lifting point and the angular motion data to obtain the leveling result, the lifting module is leveled according to the leveling result, and the balance state of the coating device is periodically and automatically adjusted, so that the dynamic balance of the coating device in the lifting or descending process is kept, the manual leveling is not needed, the operation is convenient, and the coating device is convenient to mount.
Drawings
Fig. 1 is a schematic step diagram of a lifting control method of a bare conductor insulation coating robot system according to the present invention.
Fig. 2 is an explanatory diagram of the rectangular plane of the present invention.
Fig. 3 is a schematic structural diagram of a bare conductor insulation coating robot system according to the present invention.
Description of the main element symbols: 100-lifting point, 200-rectangular plane, 300-monitoring device, 310-display screen, 400-coating device, 410-frame, 420-coating module, 430-walking module, 440-control module, 450-lifting module, 451-traction wheel, 452-lifting motor and 460-angular motion detection module.
Detailed Description
The invention provides a bare conductor insulation coating robot system and a lifting control method thereof, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the present invention provides a method for controlling the elevation of a bare conductor insulation coating robot system, including the following steps.
Step SO 1: initializing data of the bare conductor insulation coating robot system, and performing interface display on state data of the coating device 400 by the monitoring device 300; by initializing the data of the bare conductor insulation coating robot system, the influence of old data on the normal work of the system is avoided.
Step S02: the monitoring device 300 sends an up/down command to the coating device 400 to control the operation of the coating device 400.
Step S03: the control module 440 of the coating apparatus 400 receives the up/down command and periodically collects the angular motion data of the coating apparatus 400 through the angular motion detection module 460 for achieving the dynamic balancing of the coating apparatus 400. The angular motion detection device, preferably a gyroscope, can measure angular values and angular accelerations of three euler angles, i.e., a pitch angle, a yaw angle, and a roll angle.
Step S04: the control module 440 presets the elevation control position on the coating apparatus 400 as an elevation point 100, performs leveling calculation according to the angular motion data and the elevation point 100 to obtain a leveling result, and outputs the leveling result to the elevation module 450 of the coating apparatus 400;
referring to fig. 2, in some embodiments, the lifting points 100 are arranged in four on the coating apparatus 400 and form a rectangular plane 200 as a reference coordinate system. Through the arrangement, the rectangular plane 200 can be divided into a front shaft, a rear shaft, a left shaft and a right shaft, so that leveling calculation is facilitated.
Further, in some embodiments, the angular motion data includes a Roll angle, a Pitch angle, with the rectangular plane 200 as a reference coordinate system; the Roll angle is a rotation angle of the rectangular plane 200 rotating around the X axis, and the Pitch angle is a rotation angle of the rectangular plane 200 rotating around the Y axis. The two euler angles reflect the equilibrium of the coating apparatus 400 during the ascent or descent.
Referring to FIG. 2, in particular, in some embodiments, the leveling algorithm is as follows: superposing the Roll angle and the Pitch angle to obtain the horizontal angle deviation amount of the rectangular plane 200 so as to calculate the leveling deviation amount of the four lifting points 100; according to the Roll angle and the Pitch angle, the lifting speed values of the four lifting points 100 are respectively obtained through PID calculation; and calculating to obtain the corresponding adjustment speed values of the four lifting points 100 as leveling results according to the leveling deviation values of the four lifting points 100 and the corresponding lifting speed values.
Note that the PID calculation includes a proportional calculation, an error integral accumulation calculation, and a differential angular acceleration calculation.
Step S05; the lifting module 450 receives the leveling result to level and returns the state data to the monitoring device 300; the lifting module 450 adjusts the speed values of the four lifting points 100 according to the leveling result, thereby implementing the balance adjustment of the coating apparatus 400. Meanwhile, the status data is returned to realize closed-loop control, and the monitoring of the lifting status of the coating device 400 is realized.
Further, in some embodiments, when the lifting module 450 does not return the status data or returns the status data, that is, the lifting module 450 fails to receive or execute the leveling result, the status data is discarded and returned to step S03, so as to prevent the erroneous status data from affecting the normal operation of the system, and improve the robustness of the system.
Step S06: the monitoring device 300 receives the returned status data and updates the interface display; it should be noted that the coating apparatus 400 periodically collects the angular movement data to perform the leveling calculation, and the status data displayed on the interface of the monitoring apparatus 300 is also periodically updated.
Preferably, the monitoring device 300 is in wireless communication with the coating device 400, so that an operator can remotely control and monitor the working state of the coating device 400 through the monitoring device 300.
Referring to fig. 1, the present invention further provides a bare conductor insulation coating robot system, which includes a monitoring device 300 and a coating device 400 communicatively connected to the monitoring device 300; the monitoring device 300 is provided with a display screen 310; the coating device 400 comprises a frame 410, and a coating module 420, a walking module 430, a control module 440, a lifting module 450 and an angular motion detection module 460 which are arranged on the frame 410; the bare conductor insulation coating robot system executes the lifting control method of the bare conductor insulation coating robot system; since the above detailed description is made on the lifting control method of the bare conductor insulation coating robot system, it is not described herein again.
It should be noted that the control module 440 may be an MCU unit or a PLC unit, and if the control module is controlled by a single chip microcomputer, the model of the single chip microcomputer is preferably an STM32 series.
Referring to fig. 1-3, for the convenience of understanding of the present invention, in the present embodiment, the control module 440 includes four sets of symmetrically disposed traction wheels 451 and a lifting motor 452, where the position of the traction wheels 451 is a lifting control position, i.e., a lifting point 100; when the coating apparatus 400 is ascending or descending, even if the types of the elevating motors 452 are the same, there is a difference in elevating speed, and the angular movement of the coating apparatus 400 is changed; the angular motion detection module 460 periodically collects angular motion data, the control module 440 calculates a leveling result according to the angular motion data and the position of the lifting point 100, and the lifting module 450 periodically adjusts the lifting speed and the rotating direction of the four lifting motors 452 according to the leveling result, thereby realizing automatic dynamic balance of the coating apparatus 400 during the lifting or lowering process. At the same time, the operator may monitor the coating apparatus 400 based on the returned status data, which may include: the lifting speed of the four motors, the Roll angle and the Pitch angle of the coating apparatus 400, and the like.
In summary, the lifting control method of the present invention can automatically adjust the balance state of the coating apparatus 400, so that the coating apparatus 400 maintains dynamic balance without manual control, and is convenient to use and mount.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the protective scope of the present invention.
Claims (4)
1. A lifting control method of a bare conductor insulation coating robot system is characterized by comprising the following steps:
step SO 1: initializing data of the bare conductor insulation coating robot system, and displaying the state data of the coating device on an interface by a monitoring device;
step S02: the monitoring device sends an ascending/descending instruction to the coating device;
step S03: a control module of the coating device receives the ascending/descending instruction and periodically acquires angular motion data of the coating device through an angular motion detection module;
step S04: the control module presets a lifting control position on the coating device as a lifting point, carries out leveling calculation according to the angular motion data and the lifting point to obtain a leveling result, and outputs the leveling result to a lifting module of the coating device;
step S05; the lifting module receives the leveling result to level and returns state data to the monitoring device;
step S06: the monitoring device receives the returned state data and updates the interface display;
four lifting points are arranged on the coating device to form a rectangular plane as a reference coordinate system;
the angular motion data comprises a Roll angle and a Pitch angle which take a rectangular plane as a reference coordinate system;
the leveling calculation is specifically as follows: superposing the Roll angle and the Pitch angle to obtain the horizontal angle deviation amount of the rectangular plane so as to calculate the leveling deviation amount of the four lifting points; according to the Roll angle and the Pitch angle, the lifting speed values of the four lifting points are respectively obtained through PID calculation; and calculating to obtain the corresponding adjustment speed values of the four lifting points as leveling results according to the leveling deviation values of the four lifting points and the corresponding lifting speed values.
2. The elevation control method of the bare wire insulation coating robot system according to claim 1, wherein when the elevation module does not return the status data or an error occurs while returning the status data, the status data is discarded and returns to step S03.
3. The method of claim 1, wherein the monitoring device communicates with the coating device wirelessly.
4. A bare conductor insulation coating robot system is characterized by comprising a monitoring device and a coating device in communication connection with the monitoring device; a display screen is arranged on the monitoring device; the coating device comprises a rack, and a coating module, a walking module, a control module, a lifting module and an angular motion detection module which are arranged on the rack; the bare wire insulation coating robot system performs the elevation control method of the bare wire insulation coating robot system according to any one of claims 1 to 3.
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| CN201911218497.3A CN110928337B (en) | 2019-12-03 | 2019-12-03 | Bare conductor insulation coating robot system and lifting control method thereof |
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| CN201911218497.3A CN110928337B (en) | 2019-12-03 | 2019-12-03 | Bare conductor insulation coating robot system and lifting control method thereof |
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| CN111844079B (en) * | 2020-08-03 | 2021-05-14 | 国网山东省电力公司德州市陵城区供电公司 | Intelligent robot is patrolled and examined to electric power of emergency rescue |
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