High-voltage DC transmission line magnetic robot levitation force control system and control method

Abstract

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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Problems solved by technology

[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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