Robot airship control system for overhead line inspection and control method thereof

Abstract

The invention discloses a robot airship control system for overhead line inspection and a control method thereof. The control system comprises a on-board system and a ground-based system, wherein the on-board system has a structure that: a master controller DSP is connected with various sensors, a wireless communication module, a motor drive circuit, an image processor DSP and the like through analog-to-digital conversion ports, serial ports and other ports, and the image processor DSP is connected with an infrared CCD through an HPI port; the ground-based system has a structure that: an interface singlechip is connected with a ground PC, wireless communication equipment and a manual remote controller through serial ports, I / O and other ports; the on-board system and the ground-based system are communicated through an on-board wireless communication module and a ground-based wireless communication module; and a wireless camera transmits image information to the ground-based system through wireless video signals, and displays the image information on an image monitor. The robot airship control system for the overhead line inspection has three patterns, namely an infrared vision navigation pattern, a GPS navigation pattern and a manual remote control pattern, and has the advantages of high inspection efficiency, high cruisingability and high safety.

Description

technical field [0001] The invention relates to a robot airship control system and a control method specially used for inspection of overhead power transmission lines. The invention belongs to the technical field of non-contact detection of power lines. Background technique [0002] With the rapid development of my country's economy and technology in the past few years, the demand for energy is increasing, and long-distance, ultra-high voltage, and large-capacity transmission lines have been greatly expanded. Line corridors need to pass through various complex geographical environments, such as large-scale reservoirs, lakes and mountains, etc., which bring many difficulties to the detection of power lines. Especially for power lines passing through virgin forest edge areas, high altitudes, ice and snow-covered areas, and frequent landslides, debris flows and other geological disasters along the line, most areas have high mountains and steep slopes, and the transportation an...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to propose a control system and control method for an overhead line inspection robot airship to overcome the defects of slow action, low efficiency, and difficult loading and unloading insulation of the existing walking type inspection robot MROPI, and to solve the problems based on wireless FROPI, a flying robot for human helicopters, has problems such as insufficient endurance, low GPS positioning accuracy, and high risk of crashes.

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