Automatic line-grasping control method of deicing robot in high-voltage transmission line

A high-voltage transmission line and control method technology, applied in the direction of manipulators, electrical components, manufacturing tools, etc., can solve problems such as difficulty in ensuring control accuracy, complex algorithms, and inability to meet the real-time requirements of engineering applications

Inactive Publication Date: 2011-01-26
HUNAN UNIV
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Problems solved by technology

In view of the fact that the robot arm may be off-line during the obstacle surmounting process, and considering the influence of the flexible characteristics of the transmission line and external uncertain fact

Method used

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  • Automatic line-grasping control method of deicing robot in high-voltage transmission line
  • Automatic line-grasping control method of deicing robot in high-voltage transmission line
  • Automatic line-grasping control method of deicing robot in high-voltage transmission line

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Embodiment Construction

[0089] The technical scheme and working process of the present invention will be further described below with specific embodiments in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited thereto.

[0090] Taking a deicing robot with three mechanical arms as the control object, combined with the kinematics theory of the three-joint arm, to enhance the learning of the SARSA algorithm (the five-tuple (s, a, r, s′ used in each iteration of the algorithm) , a'), so the algorithm is named as the SARSA algorithm) to control the arm to catch the line. According to the characteristic that the transmission line is a flexible arc, the corresponding reward function is designed and its validity is verified. control process such as figure 1 , characterized in that the steps are:

[0091] 1. Establish an enhanced learning system.

[0092] The environment in which the deicing robot grasps the line can be described as a finite-state d...

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Abstract

The invention discloses an automatic line-grasping control method of a deicing robot in a high-voltage transmission line. An enhanced learning system is established by setting a state set, an action set, a Q table and a reward function. The method comprises the following steps of: selecting an action a to act on the environment by the system; after the action is accepted, transferring the environment to next state s'; meanwhile, giving out an evaluation signal r; if r meets certain conditions, stopping controlling, and otherwise deciding next action a' by the enhanced learning system according to the evaluation signal and the state s' through a behavior selection strategy; and entering next iteration after updating the Q table. The method overcomes the influence brought by the model error of the robot, inaccurate posture at the tail end of robot arms, complicated environment and the like, and can be used for adjusting the posture at the tail end of the arm on line in real time for realizing the quick and accurate line grasping of the arm without human remote control, thereby achieving the aim of the automatic line-grasping control.

Description

technical field [0001] The invention belongs to the technical field of robot intelligent control, and relates to a method for autonomously grasping a line of a high-voltage transmission line deicing robot. technical background [0002] A large amount of icing on the transmission line will greatly increase the tension load on the transmission line tower. In severe cases, it will cause the tower to tilt, collapse, disconnection and insulator flashover, as well as conductor galloping caused by uneven icing and deicing in different periods. , And thus cause line tripping, power supply interruption and other accidents, which have a serious impact on industrial and agricultural production and people's lives. [0003] At present, the more mature technology is the high-current thermal melting deicing method. It has been put into practical application in relevant areas for many years and has gained a lot of valuable experience. Consumption cannot be balanced. In addition, there are...

Claims

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Application Information

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IPC IPC(8): B25J13/00H02G7/16
Inventor 王耀南魏书宁印峰张辉杨易旻谭磊曹文明
Owner HUNAN UNIV
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