高压输电线路巡线机器人行走电机温度检测系统的研究

High voltage transmission line inspection robot walking motor temperature detection system

从电机性能和编码器性能两方面分析了对巡线机器人行走电机温度进行实时检测的必要性.提出了一种有刷直流电机发热模型及传热模型,并通过模型成功计算出电机绕组与外界环境的温度差值.介绍了巡线机器人行走电机温度的检测控制系统及温度传感器的安装结构.采用温度传感器DS18B20进行温度检测,用地面基站人机交互平台实时显示机器人现场运行过程中行走电机温度.在机器人控制程序中设定温度预设值,将所测得温度值与预设温度上限值进行比较,当所测得温度值高于上限值时,机器人将停止正在进行的运动,直至所测得温度低于预设值.以此实现机器人的智能控制.同时,基于高斯-马尔科夫的假设建立了温度传感器的一元线性回归模型,并根据假设采用了基于最小二乘法原理的方法对温度的测量值进行有效的修正.

This paper analyzes the necessity of transmission line robot walking motor temperature real-time detection from both motor and encoder performances. A brushed DC motor heating model and a heat trans- fer model are proposed to calculate the temperature difference of the motor winding and the external envi- ronment successfully. It describes the measurement and control system of inspection robot motor tempera- ture and mounting structure of the temperature sensor. Using the temperature sensor for temperature de- tection and the human-computer interaction platform with a ground station is used to real-time display walking motor temperature in the live running process. Temperature preset value are set in the robot con- trol program. Compared with preset temperature limit, robot will stop the ongoing movement when the measured temperature value is higher than the upper limit value, or else the robot will continue to run. Thus, the robot can achieve intelligent control. Meanwhile, a linear regression model of temperature sen- sor is built based on Gaussian-Markov assumption, and based on the assumption to dopt the method of least squares method to effective correct the temperature of measurement.