Study Of Transmission Line Inspection Robot Control System Based On ROS

The transmission line inspection robot is designed to provide a new way for transmission line inspection work,to replace manual work,reduce operation intensity,and improve the quality and efficiency of inspection work.However,at present,the transmission line inspection robots generally have problems such as small operating space,low accuracy of obstacle recognition,and unstable autonomous obstacle-crossing movement,which restrict its promotion and application.Therefore,it is of great significance to research the region of inspection robot’s working space,obstacle recognition and autonomous obstacle crossing technology to promote its application in engineering practice.In this paper,a three-arm inspection robot composed of walking and clamping arms is developed by analyzing the structure and distribution of the metal obstacles,which expands the working space of the robot.By analyzing the movement process of the robot based on the kinematic theory,this paper proposes the action plan of the robot to cross all kinds of metal obstacles.The control system is designed to use a hybrid structure combining hierarchical and distributed structures by analyzing the systematic functional requirements of the robot.The overall architecture of the robot control system is proposed.By using various types of sensors,hierarchical obstacle recognition and positioning system solution is proposed,which improves the robot’s ability to recognize and locate metal obstacles.Based on the modular design idea,the robot system is divided into functional modules,and the software of each functional module is designed and implemented based on ROS.The FSM technology is used to realize the management of the system state and the manual and automatic control of the robot’s obstacle-crossing movement.By analyzing the robot dynamics,a robot dynamics model is established and combined with traditional PID,robust PID and other control algorithms to study the robot obstacle-crossing trajectory control,a robust PI control method is proposed to improve Stability of the robot’s obstacle-crossing movement.To verify the rationality of the robot structure and system design,the reliability of the obstacle recognition and positioning system,and the effectiveness of the control algorithm,the robot prototype was trial-produced and placed in experiment environment for patrol inspection experiments.During the experiment,the robot can accurately identify the type of obstacle ahead and complete the autonomous crossing of the metal obstacle in automatic mode.The obstacle-crossing process of the robot is more stable and the obstacle-crossing efficiency is higher,which verifies the rationality of the robot structure and system design and the effectiveness of the control algorithm.