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Full-automatic coupling control system of power transmission line inspection robot

An inspection robot, coupled control technology, applied in the control system, motor speed or torque control, non-electric variable control and other directions, can solve problems such as difficult to achieve control results, and the adjustment of control parameters cannot achieve the predetermined effect. , to achieve the effect of strong universality and applicability

Active Publication Date: 2018-10-16
XI AN JIAOTONG UNIV
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Problems solved by technology

[0005] Existing control systems and control methods such as: PID control, fuzzy PID control, adaptive PID control, multi-layer artificial neural network and its control method, adaptive hybrid learning mapping control, etc., but they are all aimed at precise control of a single motor , and the climbing-sliding composite modal inspection robot has a strong coupling between the motors due to its specific structure, and it is difficult to achieve stable control results only through independent motor control. Facing the complex operating environment, the The adjustment of the control parameters can not achieve the intended effect

Method used

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  • Full-automatic coupling control system of power transmission line inspection robot
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  • Full-automatic coupling control system of power transmission line inspection robot

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Embodiment Construction

[0062] The present invention is further described below in conjunction with accompanying drawing:

[0063] The overall structure of the control system is as image 3 As shown, it mainly includes: center of gravity adjustment control module such as Figure 4 As shown, the trajectory tracking control module is as follows Figure 5 As shown, the fully automatic control module is the entire control system such as figure 2 As shown, there are 3 innovative modules such as , etc. In addition, there are 5 basic functional modules such as remote control function module, fault detection module, motor control module, peripheral control module, and taxiing control module. The 8 modules are mainly composed of the central processing unit, the clock tree, and the serial port module USART; the remaining serial ports are mainly used to receive data transmitted by other peripherals and store them in the memory through DMA), the remote control transmitter), and the data sent by the receiver. ...

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Abstract

Provided is a full-automatic coupling control system of a power transmission line inspection robot. The full-automatic coupling control system comprises a gravity center adjustment control module, a trajectory tracking control module, a full-automatic control module, a remote control function module, a fault detection module, a motor control module, a peripheral control module and a taxing controlmodule; the gravity center adjustment control module, the trajectory tracking control module, the full-automatic control module, the remote control function module, the fault detection module, the motor control module, the peripheral control module and the taxing control module are all connected with a central processing unit; the central processing unit performs operation and logical processingon data transmitted by each module and sends a control instruction to each module.

Description

technical field [0001] The invention relates to the field of high-voltage wire inspection robot field, in particular to a fully automatic coupling control system of a transmission line inspection robot. Background technique [0002] With the continuous development of robot technology, inspection robots carrying testing equipment are gradually used in various high-risk and harsh working environments, such as inspection robots for high-voltage transmission lines, inspection robots for substation inspections, and Inspection robots used in tunnel inspections, etc. In these jobs where manual inspections are labor-intensive and dangerous, inspection robots that replace manual inspections have emerged one after another. With the development of control technology and artificial intelligence technologies With continuous development, more intelligent inspection robots have appeared. These robots can make simple self-decisions and realize the automation of inspections. Under no special...

Claims

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Application Information

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IPC IPC(8): G05B19/04G05D1/02H02P5/00H02P5/50
CPCG05D1/021G05D1/0212H02P5/00H02P5/50G05B19/04
Inventor 张小栋郭健沈海鸣
Owner XI AN JIAOTONG UNIV
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