Research On Fine Operation Control Technology For The Power Distribution Live-line Working Robots

As the national economy continues to develop steadily,there has been increasing focus on the research of Power Distribution Live-line Working Robots.These robots are primarily utilized for tasks such as cutting and connecting wires or stripping wire insulation.However,there is still a lack of research regarding the precise operation control necessary for tasks like dismantling lightning arresters.Therefore,this article aims to investigate the fine operation control technology required for Power Distribution Live-line Working Robots when dismantling lightning arresters in power distribution scenarios.The main focus of this research will include the following:1.Designing operation tools and visual systems for Power Distribution Live-line Working Robots.Based on the self-developed Power Distribution Live-line Working Robot in our research group,dedicated electric grippers and electric wrenches are designed for dismantling lightning arresters,and a control scheme for the operation tools is provided.A visual system is also designed for Power Distribution Live-line Working Robots,and the visual system is calibrated and corrected to provide a theoretical basis and hardware foundation for subsequent fine operation control.2.Conducting research on target recognition and localization technology for Power Distribution Live-line Working Robots.The YOLOv7-based target recognition algorithm is used to recognize lightning arresters and nuts in power distribution scenarios.The principle of stereo vision measurement and the principle of monocular depth estimation of hand-eye cameras are described,and the effectiveness of these two methods is verified through ranging experiments.Through the method based on HSV and image moment to determine the arrester attitude,the multi-information fusion positioning method is proposed to precisely locate the nut,providing fine positional information for the subsequent fine operation.3.Researching fine operation control methods for Power Distribution Live-line Working Robots.A collision avoidance path planning algorithm is proposed,and the application scope of the algorithm is expanded through replaceable planners.The efficiency and success rate of the entire path planning are improved using a multiresolution collision detection algorithm.Collision detection experiments and collision avoidance path planning experiments are conducted in a simulation environment,and the collision detection performance of multi-resolution envelope and fine envelope is compared to verify the replaceability of planners in the path planning algorithm and the efficiency of the collision detection part.Finally,the fine operation process of Power Distribution Live-line Working Robots is analyzed,and a fine operation experiment is conducted for dismantling lightning arresters in an indoor simulated scenario.The practicality of the tools and visual systems developed in this article,the effectiveness of the target recognition and localization algorithm,and the feasibility of the collision avoidance path planning algorithm are verified.