Research Of Visual Surveillance System Of High Voltage Transmission Line Deicing Robot

Icing of transmission line often causes faults. Transmission line faults caused by icing happened in many contries and resulted in huge economical loss. Traditional deicing methods, such as manual deicing, are of low efficiency and safety. So, developing a safe, economic and efficient deicing device is now a hot topic in research area.As a new device, deicing robot has the capability of transmission line deicing and inspection, and the advantage of low cost, high efficiency and security and not affecting the performance of power grid. It has a fine prospects in application.First, icing of transmission line and its damage is introduced. Then frequently used deicing methods is concluded. Research situation and development direction of inspection robot and deicing robots at home and abroad are introduced in detail. Working environment of deicing robot is also analyzed.Secondly, a three-arm obstacle-navigation robot and a single line robot design scheme are proposed according to the structure and characteristics of the transmission line and the basic function of the deicing robot, and learning from existing inspection robot and deicing robot design schemes at home arid abroad. The scheme of mechanical structure design and control system design are respectively introduced, Mechanical structure diagram of key components and control system diagram are presented.Then, CORBA, CORBA A/V streaming service and streaming media technology are researched. C/S structured visual surveillance system of deicing robot is designed based on CORBA A/V streaming service and streaming media technology. Then CORBA video streaming service is implemented based on TAO CORBA’s A/V streaming service package. H.264 standard video encoding and decoding and RTP protocol network video transmission are respectively implemented based on FFmpeg and JRTPLIB. Software of the system is of good portability. The system works well in the laboratory test.Finally, to solve the obstacle detection and recognition problem, an structure restriction based obstacle detection and recognition algorithm is proposed according to the common obstacles on simulation transmission line in laboratory. Relatively simple geometry elements, such as line, circle and circular arc, are selected as the evidence for the obstacle existence.Then the relationship between the position and geometric size of transmission line and obstacles is used as constraint to detect and recognize different types of obstacles. And a group of laboratory experiments results on simulated transmission line demonstrate the effectiveness of the proposed algorithm.