电力巡查吊舱双光传感器重心补偿方法设计

Design of center of gravity compensation method for dual optical sensor in power patrol pod

为同时规避内外力负载对电力巡查吊舱双光传感器运动过程造成的影响,避免其重心节点出现过度偏转的情况,设计了电力巡查吊舱双光传感器重心补偿方法。根据传感器作业空间的覆盖范围条件,计算重心运动轨迹及其步长值,完成对电力巡查吊舱双光传感器重心的标注。分析标注参数的冗余性能力,通过标定误差系数的方式确定补偿差值,实现对重心标注误差的补偿处理。实验结果表明,在补偿方法作用下,外力负载、内力负载都不会对电力巡查吊舱双光传感器的运动行为造成严重影响,证明该方法能够有效解决重心节点过度偏转的问题。

In order to avoid the influence of internal and external force loads on the motion process of the dual optical sensor of the power patrol pod and avoid excessive deflection of the center of gravity node,this study designed a compensation method for the center of gravity of the dual optical sensor of the electric patrol pod.According to the coverage conditions of the sensor working space,the trajectory and step value of the center of gravity were calculated,and the center of gravity of the dual optical sensor in the power patrol pod was marked.The redundancy of the annotation parameters is analyzed,and the compensation difference is determined by the calibration error coefficient,so as to realize the compensation processing of the centroid annotation error.Experimental results show that,under the action of compensation method,neither external load nor internal load has a serious influence on the motion behavior of the dual optical sensor in the power patrol pod,which proves that this method can effectively solve the problem of excessive deflection of the center of gravity node.