High-voltage DC transmission line magnetic robot levitation force control system and control method
A high-voltage transmission line, high-voltage direct current technology, applied in the direction of magnetic attraction or thrust holding devices, electrical components, overhead lines/cable equipment, etc., can solve friction and slippage, heavy body, reduce the working efficiency of line inspection robots, etc. question
Active Publication Date: 2019-07-09
HUBEI UNIV OF TECH
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[0002] At present, high-voltage transmission line inspection robots have become a research hotspot at home and abroad. Traditional line inspection robots mostly use wheel-arm composite mechanisms, which have large dimensions and heavy bodies. Because the pulleys of wheel-arm robots are in direct contact with high-voltage lines, there is friction. And slippage and other problems, reducing the work efficiency of line inspection robots
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[0043] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0044] This disclosure mainly controls the current of the levitation coil in the magnetic levitation magnetic drive robot, and then realizes the control of the levitation force to ensure that the robot can stably pass through various obstacle structures encountered on the transmission line, even if the slope of the high-voltage transmission line changes, The suspension force can also be effectively controlled so that the robot is always in a suspension state.
[0045] The levitation force of the high-voltage DC transmission line magnetic levitation robot is provided by the Ampere force. According to the formula F=BIL of the Ampere force, when the wire with current passes through the magnetic field area, the live wire will be affected by the Ampere force, and the direction of the Ampere force is determined by the left hand Judging by th...
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The invention discloses a suspension force control system and control method of a high-voltage direct-current transmission line magnetic-force robot. The control system is composed of a current sensor, a tilt angle sensor, an acceleration sensor, a distance detection sensor, and a controller. The current sensor is used for detecting the current amplitude of a suspension coil in an obstacle avoidance arm. The tilt angle sensor is used for detecting a tilt angle of a robot relative to a horizontal plane. The acceleration sensor is used for detecting an acceleration speed of the robot in a direction perpendicular to the tangent line of the high-voltage transmission line. The distance detection sensor is used for detecting a distance between a high-voltage transmission line in a cable protection sleeve of the obstacle avoidance arm and the central axis of the protection sleeve. The controller controls the current amplitude of the suspension coil based on the detection by the current sensor, the tilt angle sensor, the acceleration sensor and the distance detection sensor, so that the robot is in a stable suspension state at the high-voltage transmission line. According to the invention,the robot can passes various obstacle structures formed on the transmission line successfully and stably; and even when the slope of the high-voltage power transmission line changes, the suspension force can be effectively controlled, so that the robot is in a suspension state all the time.
Description
technical field [0001] The invention relates to the technical field of high-voltage transmission line patrol robots, a suspension force control system and a control method of a high-voltage DC transmission line magnetic force robot. Background technique [0002] At present, high-voltage transmission line inspection robots have become a research hotspot at home and abroad. Traditional line inspection robots mostly use wheel-arm composite mechanisms, which have large dimensions and heavy bodies. Because the pulleys of wheel-arm robots are in direct contact with high-voltage lines, there is friction. And slippage and other problems, reducing the work efficiency of line inspection robots. Xu Xianjin of Hubei University of Technology and others proposed a magnetic levitation magnetic drive robot scheme, which uses the magnetic field generated around the high-voltage line to achieve magnetic drive. This scheme reduces the robot's overall size, simplifies the structure, and complet...
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IPC IPC(8): H02N15/00H02G1/02
CPCH02G1/02H02N15/00
Inventor 杨智勇李书廷徐显金郑拓严宇王君
Owner HUBEI UNIV OF TECH