| Power system is the lifeblood of the national economy.Therefore,its stable and reliable operation is very important.If the overhead line is twined by foreign objects in the air such as kites and shade nets,may cause short circuits,affect the reliability of power system,and threaten life and property safety.State Grid's statistics show that foreign objects' entanglement has become one of the main causes of power line trips caused by external force destruction.Therefore,the removal of foreign objects on overhead lines has become an important maintenance task of power systems.In the current technical solutions for removing foreign objects on overhead lines,laser cleaning device based on visual tracking has obvious advantages over traditional methods.It can effectively overcome the disadvantage of manual laser clearing device: insufficient aiming accuracy due to target shaking.This dissertation studied key technologies of the laser cleaning device based on visual tracking.Main work and achievements are as follows:(1)A line detection algorithm based on adaptive parameters LSD is studied to solve the image target line detection and location problems under light interference outdoors.By improving the growth process of the line-support region in LSD,the accuracy of the overhead line recognition and the target foreign object location are improved.(2)A position predictive control algorithm of the servo system is studied,which is aiming at the effect of visual sensor sampling delay on servo performance.To predict moving target's vibration trajectory and speed,a second-order Extended Kalman filter is used to design the predictor.The tracking accuracy of the system is improved.(3)Implemented the algorithms on the laser cleaning device based on visual tracking,and experimental researches is conducted.Experimental results show that the algorithms studied in this paper can improve the positioning and pointing accuracy of the system,and can improve the operating efficiency of the device. |
PDF Full Text Request