Transformer robotic fish positioning method based on ultrasonic array hyperbolic algorithm

Abstract

The invention relates to a transformer robotic fish positioning method based on an ultrasonic array hyperbolic algorithm. The transformer robotic fish positioning method comprises the following stepsthat: depth information of a miniature robotic fish is acquired; a three-dimensional positioning model of the miniature robotic fish is simplified into a two-dimensional positioning model; the miniature robotic fish transmits a modulated ultrasonic signal through an ultrasonic transmitting device; the transformer receives an ultrasonic signal transmitted by the miniature robotic fish through an ultrasonic receiving array; the ultrasonic receiving array identifies the area where the miniature robotic fish is located; the ultrasonic receiving array adopts a cross-correlation algorithm to calculate the distance delay of different sensors in the ultrasonic receiving array; and a hyperbolic curve is drawn by adopting a hyperbolic curve algorithm, wherein the intersection point of the hyperboliccurve is the position of the miniature robotic fish. According to the method, the three-dimensional positioning model of the miniature robotic fish is converted into a depth calculation and two-dimensional positioning model, the stored data size, data updating and data searching amount can be obviously reduced, the area where the robotic fish is located is recognized through the two sets of receiving arrays, and the rapid and real-time positioning function of the robotic fish is achieved.

Description

technical field [0001] The invention belongs to the technical field of transformers, in particular to a transformer robot fish positioning method based on an ultrasonic array hyperbolic algorithm. Background technique [0002] Transformer is the core equipment in the power grid, and its safe operation plays a vital role in the power grid. With the development of smart grid, the safety and reliability of transformer operation is particularly important, and the detection and monitoring of transformers is an important task in the power industry. With the advancement of artificial intelligence and micro-robot technology, the use of micro-robot fish for cruise detection of oil-immersed transformers can achieve more intuitive, faster analysis and location of transformer faults. The micro robotic fish has the advantages of small size, movement, perception, positioning, communication, and less maintenance. Putting the micro robotic fish in the transformer oil can directly observe t...

AI Technical Summary

Problems solved by technology

At present, robot positioning at home and abroad mainly relies on laser radar and visual positioning. However, transformer oil has a great attenuation of electromagnetic waves. In addition, there is no light in transformer oil, so the visual positioning method is not ideal, and frequent image processing has large memory consumption. Therefore, it is urgent to study an accurate and efficient positioning method suitable for transformer robotic fish

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