Study On Hot-Line Robot And It's Assembly System Of Tracking

Hot-Line operation is an important means for examining and repairing, which can ensure power supply equipment to ran safely and reliable, which also can improve power net to ran economically and afford good service for user. In 1980's Japan Kyushu Electric Power Corporation began to the research of Phase I Hot-Line robot which be controlled by the way of principal and subordinate. Now Phase I Hot-Line robot can work practicably. In 1990's they set to the research of Phase II Hot-Line robot. Now they have developed the robot for experiment.In order to improve the reliability of power supply, also to ensure the safety of jockey and reduce their works, National Electric Power Corporation decided to begin the development of Hot-Line robot and made it the important researching item in1999's. After three years research work ,Hot-Line robot has been made successfully. Our Hot-Line robot has reached the international advance level. The Hot-Line robot is the first one in our country. This paper has discussed the framework of Hot-Line robot. Home research has been made for the important technology of control system and High-Voltage insulation equipment. The control system software has been developed on Object-Oriented method. This method improves the efficiency of development and enhances the expansibility of this control system. This paper has built non-linearity dynamics model for its risen system. Depend on non-linearity dynamics theory we analyze the model and get its approximation. This research provides theory's direction for the design of Hot-Line robot's risen system. And it also gives reference for the assembly system of tracking .For the feature of Hot-Line robot's work and the condition of its risen system vibrations, this paper make deep research on the assembly system of tracking. Depend on BP Neural Networks, using the method of depth from defocus, we resolve the problem of getting depth from single camera. This method reduces the calculation time. According to this method we made a step experiment. Base on the result of depth estimation using the calculation of Optical Flow we derived velocity of a point in the image. Then we can get the actual velocity of an object. In this way we have completed the job of velocity estimation. In order to ensure the assembly system complete the job successfully we put forward spatial trajectory prediction using intrinsic geometry because of the delay of image processing and calculating. On base of the theory talk above, we design the assembly system of tracking for Hot-LineRobot. At last we make an experiment on the Hot-line robot and the result is satisfied.