| With the vigorous development of the power industry,transmission line inspection is the basic guarantee for the safe and stable operation of the power grid.At present,many countries have carried out research on transmission line inspection robots according to the structural characteristics of operating lines,and designed inspection robots with different structure configurations of multi-degree-of-freedom.Patrol robots carry different patrol equipment to patrol various kinds of fittings on transmission lines.In this dissertation,the traversing inspection robot which walks along the ground line,rolls through the straight tower and the tension tower and carries two high-definition pan-tilt cameras is taken as the research object.The autonomous positioning method of the relative tower and the control method of PTZ(Pan/Tilt/Zoom,PTZ)pan-tilt camera in the process of automatic inspection are studied.The main contents and research results are as follows:(1)Based on the prior structural features of overhead transmission lines and different obstacle-crossing modes of robots,an autonomous positioning method for a traversing inspection robot is proposed.The method combines the odometer and inclination sensor data of the traversing inspection robot to realize multi-sensor information fusion,determines the relative coordinates between the origin of the pole and tower coordinates and any position of the robot along the ground line,establishes the error compensation model of the walking wheel odometer,and verifies the effectiveness of the method through experiments,and improves the accuracy of the robot’s ranging and positioning.(2)A data processing method for inclination sensor of traversing inspection robot is proposed.In the course of positioning,there are some factors such as galloping on overhead lines,which lead to jitter and instability in the data acquisition process of inclination sensor,and accumulated errors,resulting in lower positioning accuracy.The data smoothing method combining median filter and Kalman filter algorithm reduces the error of location solution and improves the accuracy of location.The validity of this method is verified by experiments.(3)A control method of pan-tilt camera of traversing patrol robot in the process of autonomous patrol is proposed.The coordinate transformation model between the patrol target and the camera coordinate system is established,and the platform control parameter model of the patrol target is obtained.Based on the control parameter model of the pan-tilt camera,the fuzzy PID control method is adopted to make the camera adjust the speed level and rotation direction effectively in the process of tracking the target position.At the same time,the dead zone is used to simplify the frequent handover process caused by the limited control level and other constraints.The simulation and experimental results show that the control algorithm can reduce the camera oscillation,keep the tracking process within a certain error range,and simplify the frequent switching process.The correctness of this method is verified by experiments.(4)According to the task of patrol inspection,the patrol operation flow is formulated,the self-patrol control software is developed,the patrol target database is established,the self-positioning and the pan-tilt camera control are modularized,and the autonomous positioning and pan-tilt camera control are completed based on the basic motion control of the robot.The effectiveness of the self-patrol method is verified by field experiments. |
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