Research On Control System Of Line Patrol Robot In Transmission Line

Regular inspection and maintenance of transmission line is an indispensable part of power system.The development of transmission line inspection robot is of great significance in realizing automatic inspection of transmission line and reducing human and material resources.This paper completes the control system design of a three-arm suspended line-patrolling robot.The three-arm suspended line-patrolling robot is divided into three parts: the main part of the robot,actuator driver and remote monitoring room.The robot takes MPC5744 P as the control core of the system,OV5640 camera as the image acquisition component,actuator driver takes TMS320F28035 as the core and three-phase as the core.DC brushless motor is used as driving motor.Through theoretical analysis of image decoding and fault identification of three-phase DC brushless motor and camera,control scheme and data processing scheme are designed.The hardware and software of the line-patrolling robot are designed in detail.Finally,the actual working condition of the inspection robot is tested by using this scheme as reference scheme.? The test results show that the design scheme of line-patrolling robot control system proposed in this paper is reasonable and effective,and can fulfill the expected function of line-patrolling robot.The paper has 55 figures,3 tables and 52 references.(this content is required)...