Research On Slipping Control And On-line Positioning Method Of Flying-walking Power Line Inspection Robot

With the rapid increase in social demand for electricity,the number and scope of overhead transmission lines are rapidly expanding,with the demands and difficulties for power inspection tasks also increasing.Compared with traditional inspection methods,robot inspection has obvious advantages in terms of labor cost,inspection efficiency,information accuracy and safety.Overhead transmission lines are mostly erected in complex field environments,which makes inspection work vulnerable to working conditions.It is important to study how to improve the stability of robot walking on the line and grasp real-time position information to improve inspection quality and safety.As a typical manifestation of the robot being affected by working conditions,slipping leads to lower inspection efficiency,increased energy consumption and reduced controllability.Slipping control not only improves the stability of the robot inspection,but also compensates the slip of the robot to improve the positioning accuracy.Online positioning is conducive to the robot’s accurate feedback of position information and motion state,to better collect power line information.In summary,the slipping state of the robot is identified and controlled,and a higher accuracy online positioning method is proposed,which has important reference value and significance for the improvement of the inspection quality of power robots.To address the complex working conditions faced by power robots during inspection(e.g.,ground slope changes,rain and snow effects,wind interference,etc.),this thesis takes the flying-walking power line inspection robot(FPLIR)as the research object,the pressing component was designed to improve the robot’s walking stability;the impact of multiple working conditions on the stability of the robot was analyzed;the robot walking slipping control method and positioning method were proposed.The main research of this thesis is as follows.(1)A pressing component was designed to improve the robot’s walking stability along the ground line.FPLIR performs inspection tasks with the ground line as the driving path.The design of reasonable mechanical mechanism is the prerequisite to ensure the safe inspection of the robot.To enhance the robot’s ability to resist environmental interference and ensure the controllability and stability of the inspection,this thesis designed a flexible pressing component,which can enhance the robot’s climbing ability by increasing the friction between the walking wheel and the ground line,helping the robot to maintain a good state of attachment when the ground line slope is large.(2)The working parameters and the measurement method were proposed to quantify the effect of working conditions.For the three typical working conditions faced by the inspection robot when walking along the ground line(ground line sags,walking wheel slipping and wind interference),the working parameters were designed to quantify their effects on the robot’s walking state,and the determination methods were proposed.An orthogonal test was designed for the factors affecting the robot walking stability.The slope of the ground line,the slipping state of the walking wheels and the swing angle of the robot were used as the influencing factors to analyze the influence of each factor on the pressing force.This analysis informed the development of subsequent control rules.(3)The VUFC method was proposed.This method uses fuzzy reasoning to construct the scaling factor,which can control the pressing component to change the control strategy according to the actual working condition of the robot and better maintain the stable state.The control method was verified by simulation,and a robot walking stability experiment was conducted.The experimental results show that the maximum climbing angle of the FPLIR reaches 29.1°.Compared with the constant pressing force of 30 N,the average value of slipping degree is 0.93,increasing by 35%.The maximum and average values of robot’s swing angle are reduced by 46% and 54%,respectively.By comparing with fuzzy control,the VUFC can provide a more reasonable pressing force while maintaining the walking stability of the FPLIR.(4)A robot online positioning method was proposed.Based on the slipping control research,the calculation method of walking wheel slipping was proposed and the FPLIR walking mileage error compensation model was constructed.The robot positioning experiment was conducted by combining the slipping control test data.The experiment results show that under the condition of 30 N constant pressing force,the robot slipping is obvious and the positioning error is 3.74%;when VUFC control method is adopted,the robot slipping is suppressed significantly and the positioning error is 1.5%.Based on the actual working conditions of FPLIR,this thesis proposes the robot slipping control and positioning method.The research results have certain theoretical reference and practical engineering application value for the field of overhead transmission line inspection.