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

作　　者：赵文彬 吴迎澳 苏磊 ZHAO Wenbin;WU Ying’ao;SU Lei(Shanghai University of Electric Power,Shanghai 200090,China;State Grid Shanghai Municipal Electric Power Company,Shanghai 200122,China)

机构地区：[1]上海电力大学,上海200090 [2]国网上海市电力公司,上海200122

出　　处：《高压电器》2023年第8期91-99,共9页High Voltage Apparatus

基　　金：国家电网有限公司科技项目资助(520940200015)。

摘　　要：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.

关 键 词：水声技术 变压器 潜游机器人 内检作业 

分 类 号：TM411[电气工程—电器] TP242[自动化与计算机技术—检测技术与自动化装置]