Autonomous obstacle crossing programming method of deicing and line inspecting robot for high-voltage transmission line

Abstract

The invention discloses an autonomous obstacle crossing programming method of a deicing and line inspecting robot for a high-voltage transmission line. The method comprises the following steps: step 1, detecting environment information by utilizing a laser radar mounted at the tail end of a mechanical arm, so as to obtain a robot movement ahead obstacle signal; step 2, according to a difference value between the current position and the expected position of the mechanical arm and the obstacle signal in the current condition, programming out a fuzzy programmed angle of the movement ahead mechanical arm by utilizing a fuzzy planner; step 3, performing online optimization to the fuzzy programmed angle by utilizing the particle swarm optimization, so as to obtain a particle swarm fuzzy programmed angle of the movement ahead mechanical arm; step 4, obtaining control moments of all joints by utilizing a neural network self-adaptive controller, and guiding the mechanical arm to act. By adopting the fuzzy programming method, an obstacle crossing programming decision can be made in real time according to the current condition of the deicing and line inspecting robot, and the inaccuracy and hysteretic nature of information perception can be overcome; meanwhile, by adopting the particle swarm optimization, the fuzzy programmed angle can be optimized online, so that the track can be smoother and the redundancy can be smaller.

Description

technical field [0001] The invention mainly relates to the field of autonomous navigation of industrial special robots, in particular to a planning method for autonomous obstacle surmounting of high-voltage transmission line deicing and patrolling robots. Background technique [0002] High-voltage transmission lines are responsible for power transmission, and their safe and reliable operation is directly related to the stable and healthy development of a country's economy. In order to ensure its safe and reliable operation, regular testing and maintenance are required. According to regulations, high-voltage transmission lines are inspected tower by tower by more than two people every month, and the annual manpower and material costs are relatively high. Moreover, in the harsh and dangerous environment in winter, freezing rain and snow will cause snow accumulation and ice coating on high-voltage transmission lines, which often cause accidents such as line tripping, insulator...

AI Technical Summary

Problems solved by technology

[0004] As a planning object, the manipulator arm of the deicing line patrol robot is a nonlinear system with time-varying and strongly coupled multiple input and output. It has many considerations and the planning decision is very complicated.

In the prior art, deicing patrol robots usually work on high-voltage transmission lines with harsh weather conditions. The outdoor unstructured environment has diversity, complexity, randomness and uncertainty, and the scenery has different scenes in different environments. , such as high-voltage transmission lines intertwined and chaotic at the towers, ups and downs, electrical equipment is randomly distributed, and electrical equipment and lines are shielded from each other by icing

In addition, dynamic changes in light, background and weather all have a great impact on the normal work of the deicing patrol robot

The traditional visual servo control planning strategy is difficult to cope with such complex working conditions, and the sensor-based trajectory planning method usually uses multi-degree polynomial fitting. Although this method can generate a smooth planning trajectory, it does not take obstacles on the path into consideration. , does not have obstacle avoidance function

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