| With the rapid development of my country’s electric power industry,it has become the current mainstream development trend for transmission line operation robots to replace manual operations for line operation and maintenance.However,how to rapidly deploy robots to power transmission lines is still an open question.In particular,the 500kV overhead transmission lines are located in a complex environment and are located at high altitudes.The existing online method is difficult to implement,and live work is even more difficult.Therefore,this thesis proposes a control method for automatic online and offline operation of live working robots for 500kV transmission lines,so as to realize safe and efficient operation and maintenance of ultra-high voltage transmission lines.Firstly,the thesis analyzes the main working environment of live working robots for 500kV transmission lines.According to the comparison and summary of the cases of manual hoisting deployment and on-line deployment of robots deployed on vehicle-mounted platforms,this thesis proposes a live-operating robot on-off-line scheme that is coordinated by drones and integrates on-off and off-line functions.The structure is designed,and the key technology in the control is analyzed.Secondly,to study the control problem of drones on the mid-throw frame before the live working robot goes online,a vision-based centering control method is proposed.This method uses the DeepLabV3+network to segment the image feature information of the power transmission wire,and calculates the offset through the adaptive threshold binarization and the linear fitting algorithm based on RANSAC estimation.Improve the accuracy of drone delivery.Next,the problem of attitude inclination during the ascent and descent of the robot is discussed,the operation principle of the hoisting mechanism is analyzed,the attitude information is fed back through the attitude sensor,and the cascade fuzzy PID is used for attitude leveling control to ensure that the robot runs during the ascending or descending process.Mathematically model the robot based on actual parameters.Use MATLAB software to build a simulation control model and conduct simulation comparison experiments to verify the effectiveness of the leveling algorithm.Finally,in the built experimental environment,the automatic alignment experiment of the UAV is carried out,and the automatic leveling experiment of the robot prototype is carried out to verify the effect of the control algorithm in practical applications.On this basis,the automatic online experiment of the joint control of the UAV and the operation robot is carried out.The experimental results show that the automatic online and offline control method of the live working robot proposed in this thesis can quickly,accurately and efficiently deploy the robot to the line for operation. |
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