基于水声技术的变压器潜游机器人定位方法研究

Research on Location Method in Submersible Robot of Transformer Based on Underwater Acoustic Technology

文中研究了变压器潜游机器人作业过程中的内部定位技术,分析了超声信号在变压器内部传播衰减的规律,验证了水下声定位技术用于潜游机器人导航的可行性,搭建了变压器油中定位模拟环境,详细讨论了机械噪声滤除、信号处理、时差计算、精准定位等问题的数据处理方法,优选了油中超声定位参数,对比了定位算法的效果,搭建了完整的定位系统,并在500kV换流变压器内检作业中进行了试用,取得了预想的效果。

In this paper,the internal positioning technology during the operation of submersible robot of transformer is studied,the propagation attenuation of ultrasonic signal inside the transformer is analyzed.The feasibility of under-water acoustic positioning technology for submersible robot navigation is verified.A simulated environment for posi-tioning in transformer oil is set up,and the data processing methods for mechanical noise filtering,signal processing,time difference calculation,and accurate positioning are discussed in detail.Moreover,the ultrasonic positioning pa-rameters in oil is optimized,the effect of positioning algorithm is compared,a complete positioning system is con-structed and the whole location system is tried out in the 500 kV converter transformer internal inspection operation,and the expected results are achieved.