Autonomous Charging Docking Technology Of Substation Inspection Robot Based On Visual Servo

With the rapid development of robot technology,the use of inspection robots to inspect substations has become an important means to ensure the stable operation of substations.Since it is difficult to ensure all-weather manual inspections in unattended areas or dangerous areas,the stable operation of the substation can be ensured by using robots with autonomous charging function to continuously detect the equipment of the substation.The autonomous charging and docking of robots has research significance in the long-term autonomous cruise of robots.This paper studies the autonomous charging of inspection robots,and designs and implements an efficient autonomous charging and docking scheme.The main work of the paper is as follows:Firstly,the paper builds the inspection robot chassis control system and conducts kinematics analysis.In order to study the self-charging and charging docking process of the inspection robot,the chassis control system of the inspection robot is designed.The system,with its flexible movements,is suitable for various servo tasks.Secondly,in view of the existing autonomous charging and docking schemes of substation inspection robots and their shortcomings,the autonomous charging and docking process of the robot is decomposed into long-range return and short-range docking for research.In the remote return-to-home stage,aiming at the local optimal problem of the traditional path planning algorithm D*Lite in dynamic planning,a preview algorithm at the corner of the map is proposed,which can predict obstacles and carry out path planning in advance,reducing the actual movement of the robot.,which improves the efficiency of the robot returning home.In the short-range docking stage,in view of the problems that the existing docking scheme is greatly affected by the environment and has a low success rate,a pose measurement scheme based on April Tag tags is proposed.The preprocessing of the target image collected by the camera improves the target recognition.Accuracy,the relative poses of the inspection robot and the charging device are obtained through the identification of the auxiliary label by the inspection robot.Thirdly,based on the in-depth research on the pose recognition based on April Tag tags,a position-based visual servo control system is designed for the docking problem between the inspection robot and the charging device.The system is divided into a position loop controller of the outer loop and a PID speed loop controller of the inner loop.According to the position loop controller,the distance and pose are obtained and the robot pose adjustment strategy is given,and the given value is obtained through the speed loop controller.,to control the operation of the robot to complete the docking task.Finally,using the inspection robot experimental platform,the experiment of autonomous charging is designed and completed.Simulation experiments are carried out in the path planning stage,and physical experiments are carried out in the visual measurement stage and the charging docking stage.The experimental results verify that the autonomous charging docking technology proposed in the paper has obvious advantages and practicability.