变电站机器人智能巡检与联动控制算法的应用研究

Application Research on Intelligent Inspection and Iinkage Control Algorithm of Substation Robot

针对传统的变电站机器人智能巡检与联动控制系统存在控制精度低和控制效率低的问题,设计变电站机器人智能巡检与联动控制算法。根据机器人控制系统设计和供电系统结构设计智能巡检与联动控制算法整体框架,通过引导线图像预处理、引导线路径分割、导航控制参数计算三个步骤,完成变电站机器人智能巡检与联动控制算法设计。实验结果表明,该算法可在较短的时间内精准地控制机器人的运行距离和运行角度,并且控制时间较短,表明该算法的控制精度高、控制效率高。

Aiming at the problems of low control accuracy and low control efficiency in the traditional substation robot intelligent inspection and linkage control system,the substation robot intelligent inspection and linkage control algorithm is designed.According to the robot control system design and power supply system structure,the overall framework of intelligent inspection and linkage control algorithm is designed.The intelligent inspection and linkage control algorithm design of substation robot is completed through three steps:guide line image preprocessing,guide line path segmentation and navigation control parameter calculation.The experimental results show that the algorithm can accurately control the running distance and angle of the robot in a short time,and the control time is short,which shows that the algorithm has high control accuracy and high control efficiency.