| With the continuous development of society in electrification and intelligence,the stable supply of electricity has been the basis of normal production and life of human society.However,ice coating on high-voltage transmission lines may lead to disconnection of transmission lines,downed towers and other disasters,resulting in power interruption.In order to ensure the stable operation of transmission lines and reduce the pressure of manual maintenance of transmission lines,various transmission line deicing robots have been developed in the industry.With the continuous enrichment and improvement of the function and operation performance of robots,the requirements for teleoperation of robots in practical engineering applications are also getting higher and higher.Therefore,how to better realize the teleoperation of robots is of great significance to promote the wide-scale application of robots.Based on the functional requirements and operational requirements of anti-icing and de-icing robot,the interactive teleoperation system is designed by combining software and hardware.Firstly,this paper introduces the object and function design of the system,and expounds the overall design framework of the teleoperation system.Then the design of remote power management and teleoperation software are introduced in detail.Power management is the fundamental guarantee for robot to realize long-term operation.The power management system of robot includes hardware construction,circuit design and control strategy.The design of the power management system realizes the real-time status monitoring of power supply parameters such as power quantity,voltage and current,and can be used to real-time monitoring the parameters of the power supply for remote charging and discharging switch,On the other hand,the power management system also designs a power control strategy based on fuzzy control,which realizes the power limit under special circumstances and improves the long-term operation reliability of the robot.Interactive teleoperation software is the core of teleoperation system.This article is adopted.NET development platform and based on WPF technology to design the PC software.The software adopts the design framework of MVVM,and for better manmachine interaction,data visualization design,robot simulation model design and simulation animation design are adopted.According to the transmission protocol of Communication module and sensors selection,Modbus-RTU protocol codes are written into the teleoperation software and STM32 microcontroller respectively,and a set of communication control based on Modbus-RTU protocol is designed.At last,the paper tests the practical application effect of the interactive teleoperation system in robot active operation,robot remote control and remote power management through the online debugging experiment of the prototype,and the system is verified to meet the expected design objectives through practice. |
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