| Overhead transmission line is the main way of long-distance power transmission at present,which provides a strong power guarantee for the economic construction in our country,however,there are a series of problems on power transmission line such as long mileage,wide distribution area,and great difficulty in daily manual maintenance.In order to ensure the stable operation of the power system and reduce the labor intensity of transmission line inspection workers,the research on power transmission line robots for the intelligent power grid construction has become the focus of the electrical field in recent years.But the traditional way of transmission line robots in automatic installing and uninstalling has seriously affected its operating efficiency,and there are personal safety problems in the way.Therefore,how to install robot on power transmission line and uninstall it from power transmission line safely and efficiently has become a new problems to be solved in the research of transmission line robot.In this thesis,the operating environment and structural characteristics of transmission line robots are analyzed firstly,and a scheme is proposed to install the robots on transmission line and uninstall the robots from transmission line by using the automatic installing and uninstalling platform based on the operating process of manual hoisting of transmission line robots,which includes three parts:the mechanical structure design,visual detection and servo control,and the software and hardware design of the measurement and control system of the loading platform.Then the author summarized and discussed the key technical problems in this project.This paper introduces the overall mechanical structure design of the loading platform in detail,including three parts:the transverse mobile mechanism,robot-stop station and the docking components.In order to reduce some unnecessary screening work in the visual detection algorithm,we marked the docking range of the robot with the docking marking line on the loading platform in advanced and used the deep learning visual detection algorithm which is very effective for small target detection to detect the docking line of the upper and lower line platform,then the target image of the detection frame which is the input of Hough line detection algorithm was captured and the vertex of the docking marking line is marked in the target image.And the coordinate values of the vertex of the docking marking line in the camera coordinate system are calculated by the binocular vision measurement model with parallel vision,so the relative position relationship between the robot and the loading platform was obtained and the problems in movement control of the motor of the loading platform is solved.Thus,The automatic installing and uninstalling platforms and the robots are accurately controlled by Fuzzy-PID composite control method for autonomous docking and separation to complete the task of assisting the transmission line robot to be installed on transmission line and uninstalled from transmission line.Finally,in order to complete the software design of the measurement and control system of the platform,the author embedded the visual detection and control method into the control program of the platform.After the experimental prototype of the loading platform was made,the relevant experiments were carried out on the laboratory analog circuit and 110 KV field circuit.The feasibility of mechanical structure design and the effectiveness of visual detection and sero control were verified. |
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