Research On Control System Of Line-riding Flying Robot Based On Rotor Technology

In the traditional electric power inspection industry,most of the inspection uses manual inspection,which wastes a lot of labor and causes great potential safety hazards.Using electric power inspection robot to work can improve work efficiency and ensure the safety of inspection work.However,at present,there are many problems in patrol robots,such as complicated up-down line mode and cumbersome obstacle surmounting process.It is necessary to propose a new robot design method to solve these problems.On the basis of studying the development status of UAV and obstacle-crossing robots at home and abroad,this paper applies the relevant principles of Rotor UAV technology to the design of inspection robots.A design method of inspection robots based on Rotor UAV technology is proposed.High-voltage line inspection work is carried out by on-line inspection and flight obstacle crossing.Flexibility of flight motion is used to improve the efficiency of up-down line and obstacle-crossing of the robot,and the hardware design of the platform is completed.On the basis of the hardware platform and combining with the theory of finite state machine,a flight obstacle-crossing method is proposed to plan the obstacle-crossing process of robot reasonably and efficiently.FreeRTOS is used as the core for patrol and reasonable scheduling of obstacle-crossing tasks.The attitude data analysis and attitude adjustment are realized by complementary filtering algorithm.By improving the UAV altitude setting method and combining with cascade PID control theory,a more stable optimization altitude setting algorithm is proposed.On the basis of the above research,the obstacle surmounting process and the flight attitude of the robot are simulated with MATLAB,and the physical prototype experiment has been completed.The results show that the technology of Rotor UAV can be applied to inspection work of patrol robot.And the flight and obstacle-crossing process is more stable by optimizing altitude determination algorithm.The design method of patrol robot proposed in this paper is an innovative application of rotor UAV technology,and has a good reference and guiding significance in line patrol work.