变电站支柱绝缘子干冰清洗机器人的视觉伺服控制方法

Visual Servo Control Method of Dry Ice Cleaning Robot for Substation Pillar Insulators

设计了一种基于视觉伺服控制方法的变电站支柱绝缘子清洗机器人,能够在不停电状态下实现对绝缘子的高效安全无死角清洗,也解决了人工清洗的安全隐患问题。针对机器人在变电站内的带电作业环境,对机器人整体及重要部件进行设计,保证了机器人带电作业的安全性并完成对机器人视觉伺服控制系统的设计。利用YOLO-v4检测算法对目标绝缘子进行实时检测与二维定位,实现了检测精度与识别速度间的平衡,整体识别率达到95%以上。通过深度相机得到绝缘子与机器人间的相对深度信息来,对平面二维坐标进行转换获取绝缘子真实三维位姿以完成定位,整体定位精度达到3.5 cm以内。根据D-H法建立机器人连杆坐标模型,利用五次插值法规划机器人作业轨迹,保证了机器人各关节安全平稳运行,并设计了一种模糊-PID控制器对机器人期望轨迹进行控制和修正,保证了控制精度及稳定性。在变电站实际环境下进行清洗作业试验和耐压试验,验证了机器人视觉伺服控制系统在带电作业环境下对不同类型绝缘子实现高效清洗的可靠性,并通过数据对比验证了机器人相比人工作业能够提高清洗效率5%,减少清洗时间8 min。

A substation pillar insulator cleaning robot based on the visual servo control method is designed,which can realize efficient,safe and dead-end cleaning of insulators in the state of no power outage,and also solve the problem of hidden safety hazards of manual cleaning.The whole and important parts of the robot are designed according to the live working environment of the robot in the substation,which can ensure the safety of the live working of the robot and completes the design of the robot visual servo control system.The real-time detection and two-dimensional positioning of the target insulator using the YOLO-v4 detection algorithm achieves a balance between detection accuracy and recognition speed,and the overall recognition rate reaches over 95%.The relative depth information between the insulator and the robot is obtained by the depth camera to convert the two-dimensional coordinates of the plane to obtain the real three-dimensional pose of the insulator to complete the positioning,and the overall positioning accuracy is within 3.5 cm.According to the D-H method,the coordinate model of the robot connecting rod is established,and then the quintic interpolation method is used to plan the trajectory of the robot,so as to ensure the safe and stable operation of each joint of the robot.A fuzzy-PID controller is designed to control and correct the desired trajectory of the robot to ensure control accuracy and stability.The cleaning operation test and withstand voltage test were carried out in the actual environment of the substation to verify the reliability of the robot visual servo control system for efficient cleaning of different types of insulators in a live working environment.Through data comparison,it is verified that the robot can improve the cleaning efficiency by 5%and reduce the cleaning time by 8 minutes compared with manual operation.