CN101807080A - Robot airship control system for overhead line inspection and control method thereof - Google Patents

Robot airship control system for overhead line inspection and control method thereof Download PDF

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CN101807080A
CN101807080A CN 201010125480 CN201010125480A CN101807080A CN 101807080 A CN101807080 A CN 101807080A CN 201010125480 CN201010125480 CN 201010125480 CN 201010125480 A CN201010125480 A CN 201010125480A CN 101807080 A CN101807080 A CN 101807080A
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control
dsp
ground
communication module
master controller
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CN101807080B (en
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黎胜强
冯昱
张译中
江道灼
晁然
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The invention discloses a robot airship control system for overhead line inspection and a control method thereof. The control system comprises a on-board system and a ground-based system, wherein the on-board system has a structure that: a master controller DSP is connected with various sensors, a wireless communication module, a motor drive circuit, an image processor DSP and the like through analog-to-digital conversion ports, serial ports and other ports, and the image processor DSP is connected with an infrared CCD through an HPI port; the ground-based system has a structure that: an interface singlechip is connected with a ground PC, wireless communication equipment and a manual remote controller through serial ports, I/O and other ports; the on-board system and the ground-based system are communicated through an on-board wireless communication module and a ground-based wireless communication module; and a wireless camera transmits image information to the ground-based system through wireless video signals, and displays the image information on an image monitor. The robot airship control system for the overhead line inspection has three patterns, namely an infrared vision navigation pattern, a GPS navigation pattern and a manual remote control pattern, and has the advantages of high inspection efficiency, high cruisingability and high safety.

Description

Overhead line inspection robot airship control system and control method thereof
Technical field
The present invention relates to a kind of robot airship control system and control method thereof that overhead transmission line is patrolled and examined that be exclusively used in.Belong to power circuit non-contact detection technical field.
Background technology
Along with the develop rapidly of China's economy and technology in the past few years, increasing to the demand of the energy, long distance, UHV (ultra-high voltage), large capacity transmission circuit are significantly extended.The geographical environment of various complexity need be passed through in the circuit corridor, and as reaching reservoir, lake and high and steep mountains etc. through large tracts of land, these have brought a lot of difficulties all for the detection of power circuit.Especially pass through geologic hazards such as the frequent many landslides of virgin forest frontier area, high height above sea level, ice and snow areal coverage and existence along the line, rubble flow for power circuit, high slope, most of regional mountain is steep, when transport and communication is extremely undeveloped, brought a lot of difficulties for daily the patrolling and examining of power circuit.On the other hand, along with technology and expanding economy, society is more and more higher to the requirement of quality, continuity and the reliability of power supply, and the daily detection that how to solve power circuit becomes a great difficult problem of puzzlement power industry.
The two kinds of methods of main employing of patrolling and examining of traditional transmission line of electricity, i.e. artificial visually examine's method and manned helicopter aerophotographic method.The work of patrolling and examining of China's power circuit is mainly by manually finishing; To patrol and examine work popular for external use that helicopter replaces manually carrying out power circuit daily, and domestic also the beginning explored.Artificial visually examine's method to patrol and examine precision low, labour intensity is big, and exists and patrol and examine the blind area; There are problems such as flight safety hidden danger and line walking expense costliness in manned helicopter aerial survey rule.Along with the development of Robotics, inspection robot can overcome above-mentioned defective, and therefore, inspection robot has become a research focus in particular kind of machine field.The robot technology of patrolling and examining automatically can be divided into walking crusing robot (Mobile Robot for OverheadPowerline Inspection, be called for short MROPI) and power circuit polling flying robot (Flying Robotfor overhead powerline inspection is called for short FROPI).
MROPI can charged work, creep along power transmission line with certain speed, and can cross over obstacles such as stockbridge damper, strain clamp, suspension clamp, shaft tower, utilize the sensor apparatus of carrying that shaft tower, lead and lightning conducter, insulator, line hardware, line channel etc. are implemented near detecting.The research of external MROPI starts from late 1980s, and some research institutions of Japan, the U.S., Canada, Thailand have successively carried out the research of inspection robot.The research of domestic MROPI starts from late 1990s, and units such as the Chinese Academy of Sciences, Wuhan University are studied in this field.The major defect of this class technology is that physical dimension is big, quality is big, thereby poor practicability, and still is in the laboratory development stage mostly.Secondly, owing to adopt structures such as roller or mechanical arm, the translational speed of robot is restricted, and it is not high to patrol and examine efficient.For example, " Robotics and application " magazine was introduced a kind of MROPI by Chinese Academy of Sciences's Shenyang robotization research and design in interim " the on-the-spot charged success of the test of patrolling and examining of 500kv inspection robot for ultra-high voltage power transmission lines " literary composition in 2006 03, its translational speed is only to be per minute 12-20 rice, promptly per hour patrols and examines distance and is no more than 1.2 kilometers.In addition, because the contact extra-high tension unit, robot climbs up or the Insulation Problems when removing power transmission line is difficult to solve.
At present, also less both at home and abroad in the research in FROPI field, mainly be at being the research of carrier with the micro-unmanned helicopter.These micro-unmanned helicopters are installed ccd video camera, utilize GPS navigation, can be along pole line low-latitude flying and over the horizon observing and controlling flight; Can overcome the defective of MROPI, the polling rate height, and be not subjected to stops limit such as gold utensil, and there is not Insulation Problems yet, routing inspection cost is also lower simultaneously.Domestic North China Electric Power University has just carried out the research of FROPI at present.Chinese patent CN1305194C, name is called " power circuit scanning test robot airplane and control system thereof ", discloses a kind of FROPI by North China Electric Power University's design.The aircaft configuration of this technology adopts coaxial twin screw reverse drive structure, adopts two engines to drive two screw propeller reverse rotations respectively, controls the stable of airframe by the rotating ratio of controlling two direct current generators; Use gps system and generalized information system to determine the flight path of aircraft, use and carry out the flight attitude adjustment, use accumulator to provide power supply as motor, detecting sensor and data link system based on 32 ARM embedded systems.This technology major defect is that present GPS/GIS system accuracy is difficult to guarantee to follow the tracks of accurately and efficiently transmission line of electricity (the gps receiver location frequency of main flow is not more than 5Hz, bearing accuracy is at 5m to 99m), simple dependence GPS navigation flight path may occur and depart from the power transmission line path, thereby the blind area occurs patrolling and examining; And the risk of crashing based on the FROPI of micro-unmanned helicopter is bigger, may cause fuselage and record equipment seriously to be damaged; The flying power deficiency of depopulated helicopter also is the major issue of this technology practical application of restriction simultaneously.
Summary of the invention
The objective of the invention is to propose a kind of overhead line inspection robot airship control system and control method thereof, with being slow in action of overcoming that existing walking inspection robot MROPI exists, efficient is low, the difficult defective of loading and unloading insulation, and solves problems such as flying power deficiency, GPS bearing accuracy risk low, that crash that the flying robot FROPI based on depopulated helicopter exists is bigger.
Pole line crusing robot dirigible control system of the present invention and control method thereof, be to be flying platform with the unmanned airship, based on infrared vision guided navigation technology and GPS navigation technology, with the digital signal processor DSP is kernal hardware, can realize along the intelligence control system and the control method thereof of overhead power transmission line autonomous flight and the flight of over the horizon manual remote control.
According to above-mentioned design, pole line crusing robot dirigible control system of the present invention, comprise ship loading system and ground system two parts, the ship loading system comprises master controller DSP, image processor DSP, infrared CCD, inclinator, accelerometer, altitude gauge, GSP locating module, ship carrier radio communication module, flash memory, 16 dynamic storagies, 32 dynamic storagies, motor-drive circuit, steering engine controller and wireless cameras; Master controller DSP is connected with 16 dynamic storagies with flash memory by opening up bus outward, and image processor DSP is connected with 32 dynamic storagies by opening up bus outward; The XINTF port of image processor DSP is connected to the XINTF port of master controller DSP; The digital video signal output terminal of infrared CCD output is connected to the HPI port of image processor DSP, inclinator, accelerometer and altitude gauge link to each other with mould/number conversion interface of master controller DSP respectively, and the GSP locating module links to each other with the serial ports of master controller DSP respectively with ship carrier radio communication module; The motor-drive circuit that drives direct current generator links to each other with the PWM output interface of master controller DSP; The serial ports input end that drives the steering wheel driver of steering wheel links to each other with the serial ports of master controller DSP; Ground system comprises ground PC, interface single-chip microcomputer, level transferring chip MAX232, terrestrial wireless communication module, manual controller, CCD receiving terminal and picture monitor; The RS232 interface end of ground PC links to each other with the RS232 interface end of level transferring chip MAX232, the TTL end of level transferring chip MAX232 connects and links to each other with a serial ports of single-chip microcomputer, another serial ports of interface single-chip microcomputer is connected with the terrestrial wireless communication module, the analog to digital conversion interface of interface single-chip microcomputer is connected with the control signal output ends of manual controller, and the I/O pin of interface single-chip microcomputer is connected with the output signal end of the manual mode switch of manual controller; The AV signal output part of CCD receiving terminal links to each other with the AV signal input part of picture monitor; Ship loading system and ground system are realized writing to each other by ship carrier radio communication module and terrestrial wireless communication module; Wireless camera CCD receiving terminal earthward sends vision signal, and is presented on the picture monitor.
Above-mentioned master controller DSP can be 16 Floating-point DSP digital signal processors of TMS320F2812 type, is used for control and manages various external units; Image processor DSP can be 32 floating type DSP of TMS320C6711B type, is used for the image recognition of infrared CCD.
Above-mentioned altitude gauge can be a HP03 type baroceptor; Accelerometer is the MMA7260 acceleration sensing chip with the output of 3 tunnel simulating signals; Inclinator can adopt twin shaft SA100T signal inclination angle sensing instrument; The GSP locating module can be the ST-93 type GPS module of Taiwan Goeget company; Infrared CCD can be the D780C type infrared thermal imagery cartridge assemblies that the upright greatly company in Zhejiang makes.
The DF-MDV1.3 model direct current generator driver module that above-mentioned motor-drive circuit adopts Dream Work Pictures company of robot to produce, this module is made up of a slice L289 type two-way H bridge direct current generator chip for driving, power supply chip and power switch circuit.
Above-mentioned steering engine controller is SSC32V2 type 32 road steering engine controller modules of Lynxmotion company.
Above-mentioned ship carrier radio communication module and terrestrial wireless communication module are the M22 model GPRS communication module that BENQ company makes, and adopt GPRS public network mode to communicate by letter; Build two data link of uplink and downlink between ship carrier radio communication module and the terrestrial wireless communication module, realized the communication between ship loading system and the ground system.
Above-mentioned interface single-chip microcomputer can be the Mega16 type single-chip microcomputer that atmel corp makes, and its power supply is provided by 5V voltage stabilizing chip LM7805; Manual controller is a Futaba72M 4EX model four-way proportional control telepilot, and its output signal is the simulating signal of 4 road 0V~5V, corresponding to the corner or the rotating speed of motor of steering wheel 0 degree~180 degree; Manual controller also has a manual mode switch, and it is output as 0V or 5V current potential, corresponding to the opening and closing of manual remote control pattern.
The control method of pole line crusing robot dirigible control system, its controlled step is as follows:
1) attitude angle, acceleration, flying height and the position coordinate parameters that utilizes inclinator, accelerometer, altitude gauge and GSP locating module to read dirigible delivered to master controller DSP, by to integrated acceleration computing acquisition speed, carry out the data processing of change of scale, integral operation and low-pass filtering and be stored in flash memory;
2) flight path, flight attitude and the battery electric quantity parameter that will be stored in flash memory sends to the terrestrial wireless communication module by ship carrier radio communication module, and is stored in ground PC; The image that wireless camera is taken transfers to the CCD receiving terminal on ground by wireless video signal, and is presented on the picture monitor;
3) image processor DSP adopts the Flame Image Process integration algorithm based on rim detection, Hough conversion and feature screening technique, image to the infrared CCD collection carries out analyzing and processing, obtain the equation in coordinates of power transmission line place straight-line segment, and calculate the bee-line and the angle of this straight-line segment and consult straight line, obtain the cross track distance and the crab angle of robot airship;
4) image information of obtaining in cross track distance that obtains according to the GPS locating module and the step 3), in GPS navigation pattern, infrared vision guided navigation pattern and manual remote control pattern, carry out three and select one switching: if the manual mode switch of manual controller is then enabled the manual remote control pattern for opening; Under the prerequisite that the manual remote control mode switch is closed,, then enable infrared vision guided navigation pattern if when the non-vanishing and cross track distance that obtained by the GPS locating module of the vertical element number that returns is in preset range in the step 3); If the vertical element number that returns in the step 3) is zero or the cross track distance that obtained by the GPS locating module outside preset range the time, then enable the GPS navigation pattern; Wherein, under the GPS navigation pattern, enter step 5); Under infrared vision guided navigation pattern, enter step 6); Under the manual remote control pattern, enter step 7);
5) from flash memory, read the distributing position information of detected power transmission line and the coordinate information of default flight path; Position coordinates, speed and the flying height obtained in the step 1) and the flight path of presetting are compared, calculate departure, utilize master controller DSP to transmit control signal to motor-drive circuit and steering wheel driver, direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled, realize driftage control, speed control and highly control, make robot airship along default flight path flight;
6) according to the cross track distance that obtains in the step 3) and crab angle and flying height that from step 1), reads and speed, utilize master controller DSP to transmit control signal to motor-drive circuit and steering wheel driver, direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled, the course of realizing dirigible is controlled, is highly controlled and speed control, makes robot airship along the flight of pole line top;
7) ground staff is by course control signal, height control signal and the speed control signal of manual controller input dirigible, and these signals are sent to ship carrier radio communication module by the terrestrial wireless communication module, be sent to motor-drive circuit and steering wheel driver through master controller DSP, direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled.
Above-mentioned steps 3) said image processor DSP is based on the Flame Image Process integration algorithm of rim detection, Hough conversion and feature screening technique in, image to the infrared CCD collection carries out analyzing and processing, and its step is as follows: a) image processor DSP reads in height, the width parameter of single-frame images and memory image; B) handle boundary operator, adopt the Canny boundary operator to extract the high zone of contrast, as object edge; C) object edge is carried out the Hough conversion, get rid of jamming pattern, select line segment above designated length; D) leave out the line segment that intersects with main section; E) by the distance algorithm of Hough conversion, it is the straight line section also that object edge is handled two line segments that produce, and obtains the equation in coordinates of power transmission line place straight line.
The present invention compared with prior art has the following advantages:
A. because robot airship has independent flight control system, can realize unmanned flight, can fly along pole line in the low latitude, also can not cause personnel's injures and deaths, effectively solved the personal casualty loss that may cause in the manned helicopter flight accident even if inflight emergency has taken place.
B. because dirigible self has suspension characteristic, be not prone to the situation of falling rapidly, as long as breakage does not appear in air bag, even if therefore the serious damage of falling and also can not cause dirigible and ship to carry equipment has lower crash risk.
C. rely on aerostatic buoyancy because dirigible suspends, do not need additional energy, thruster has only need provide the energy that overcomes air resistance, therefore has stronger flying power; Usually, using under the similar angle of rake prerequisite, dirigible is than strong more than 30% with the depopulated helicopter flying power of load.
D. owing to introduced infrared vision control technology, the present invention has higher transmission line of electricity tracking accuracy than simple use GPS navigation, can guarantee that infrared CCD captures the trolley wire image, reduces and patrols and examines the dead band.
Thereby, the invention provides and a kind ofly patrol and examine the efficient height, flying power is strong, safe, automaticity is high pole line is patrolled and examined technology automatically.
Description of drawings
Fig. 1 is a pole line crusing robot dirigible control system synoptic diagram.
Fig. 2 is the Simulink two-dimensional simulation design sketch of overhead line inspection under the infrared vision guided navigation pattern.
Embodiment
Further specify the present invention below in conjunction with accompanying drawing.
Referring to Fig. 1, pole line crusing robot dirigible control system of the present invention, comprise ship loading system 1 and ground system 2 two parts, ship loading system 1 comprises master controller DSP3, image processor DSP4, infrared CCD 5, inclinator 6, accelerometer 7, altitude gauge 8, GSP locating module 9, ship carrier radio communication module 10,11,16 dynamic storagies of flash memory 12,32 dynamic storagies 13, motor-drive circuit 14, steering engine controller 15 and wireless cameras 21; Master controller DSP 3 is connected with 16 dynamic storagies 12 with flash memory 11 by opening up bus outward, and image processor DSP 4 is connected with 32 dynamic storagies 13 by opening up bus outward; The XINTF port of image processor DSP 4 is connected to the XINTF port of master controller DSP 3; The digital video signal output terminal of infrared CCD 5 outputs is connected to the HPI port of image processor DSP 4, inclinator 6, accelerometer 7 and altitude gauge 8 link to each other with mould/number conversion interface of master controller DSP 3 respectively, and GSP locating module 9 links to each other with the serial ports of master controller DSP 3 respectively with ship carrier radio communication module 10; The motor-drive circuit 14 that drives direct current generator links to each other with the PWM output interface of master controller DSP 3; The serial ports input end that drives the steering wheel driver 15 of steering wheel links to each other with the serial ports of master controller DSP 3; Ground system 2 comprises ground PC 16, interface single-chip microcomputer 17, level transferring chip MAX232 18, terrestrial wireless communication module 19, manual controller 20, CCD receiving terminal 22 and picture monitor 23; The RS232 transit of ground PC 16 links to each other with the RS232 interface end of level transferring chip MAX232 18, the TTL end of level transferring chip MAX232 18 connects and links to each other with a serial ports of single-chip microcomputer 17, another serial ports of interface single-chip microcomputer 17 is connected with terrestrial wireless communication module 19, the analog to digital conversion interface of interface single-chip microcomputer 17 is connected with the control signal output ends of manual controller 20, and the I/O pin of interface single-chip microcomputer 17 is connected with the output signal end of the manual mode switch of manual controller 20; The AV signal output part of CCD receiving terminal 22 links to each other with the AV signal input part of picture monitor 23; Ship loading system 1 and ground system 2 are realized writing to each other by ship carrier radio communication module 10 and terrestrial wireless communication module 19; Wireless camera 21 CCD receiving terminal 22 earthward sends vision signal, and is presented on the picture monitor 23.
The model of each element, manufacturer and supply voltage are referring to table 1 in the ship loading system 1.
Table 1
Numbering The hardware title Manufacturer Model Supply voltage
??3 Master controller DSP Texas Instrument ??TMS320F2812 ??3.3V
??4 Image processor DSP Texas Instrument ??TMS320C6711B ??3.3V
??5 Infrared CCD Zhejiang is upright greatly ??D780C ??12V
??6 Inclinator VTI company ??SA100T ??5V
??7 Accelerometer ??MMA7260 ??MMA7260 ??3.3V
??8 Altitude gauge Shenzhen HuaPu ??HP03 ??5V
??9 The GSP locating module ??Goeget ??ST93 ??5V
??10 Ship carrier radio communication module ??BENQ ??M22 ??5V
??11 Flash memory ??Spansion ??S29PL256N ??3.3V
??12 16 dynamic storagies Texas Instrument ??BQ4015LY ??3.3V
??13 32 dynamic storagies Texas Instrument ??BQ2204A ??3.3V
??14 Motor-drive circuit The robot Dream Work Pictures ??DF-MD?V1.3 ??12V
??15 Steering engine controller ??Lynxmotion ??SSC32?V2 ??5V
??21 Wireless camera ??Hobby?Wireless ??T1024 ??12V
Above-mentioned altitude gauge, accelerometer, inclinator, ship carrier radio communication module, GSP locating module, master controller DSP, image processor DSP, flash memory, 16 dynamic storagies, 32 dynamic storagies can be printed on the main circuit board; Motor-drive circuit, steering engine controller, infrared CCD are made a plate separately and are connected by electrical wiring to main circuit board; The ship loading system adopts the 12V lithium battery power supply, adopt the 12V/5V/3.3V mixed power supply system, the 12V power supply is directly taken from lithium battery, and the 5V power supply is provided by LM7605 type voltage stabilizing chip, various peripheral hardware chip power supplies mainly are provided, and the 3.3V voltage source is provided by TPS7333 type low pressure difference linear voltage regulator.
The interface single-chip microcomputer 17 of ground system 2 is Mega16 type single-chip microcomputers that atmel corp makes, and its power supply is provided by 5V voltage stabilizing chip LM7805; Manual controller 20 is Futaba72M 4EX model four-way proportional control telepilots, and its output signal is the electric potential signal of 4 road 0V~5V, corresponding to the corner or the rotating speed of motor of steering wheel 0 degree~180 degree; Manual controller 20 also has a manual mode switch, and it is output as 5V or 0V current potential, corresponding to automatic offline mode and manual remote control pattern.
The control method of pole line crusing robot dirigible control system, its controlled step is as follows:
1) attitude angle, acceleration, flying height and the position coordinate parameters that utilizes inclinator 6, accelerometer 7, altitude gauge 8 and GSP locating module 9 to read dirigible delivered to master controller DSP3, by to integrated acceleration computing acquisition speed, carry out the data processing of change of scale, integral operation and low-pass filtering and be stored in flash memory 11;
2) flight path, flight attitude and the battery electric quantity parameter that will be stored in flash memory 11 sends to terrestrial wireless communication module 19 by ship carrier radio communication module 10, and is stored in ground PC 16; The image that wireless camera 21 is taken transfers to the CCD receiving terminal 22 on ground by wireless video signal, and is presented on the picture monitor 23;
3) image processor DSP 4 employings are based on the Flame Image Process integration algorithm of rim detection, Hough conversion and feature screening technique, the image that infrared CCD 5 is gathered carries out analyzing and processing, and step is as follows: a) image processor DSP 4 reads in height, the width parameter of single-frame images and memory image; B) handle boundary operator, adopt the Canny boundary operator to extract the high zone of contrast, as object edge; C) object edge is carried out the Hough conversion, get rid of jamming pattern, select line segment above designated length; D) leave out the line segment that intersects with main section; E) by the distance algorithm of Hough conversion, it is the straight line section also that object edge is handled two line segments that produce, and obtains the equation in coordinates of power transmission line place straight line.Calculate the bee-line and the angle of this straight-line segment and consult straight line at last, obtain the cross track distance and the crab angle of robot airship;
4) image information of obtaining in cross track distance that obtains according to GPS locating module 9 and the step 3), in GPS navigation pattern, infrared vision guided navigation pattern and manual remote control pattern, carry out three and select one switching: if the manual mode switch of manual controller 20 is then enabled the manual remote control pattern for opening; Under the prerequisite that the manual remote control mode switch is closed,, then enable infrared vision guided navigation pattern if when the non-vanishing and cross track distance that obtained by GPS locating module 9 of the vertical element number that returns is in preset range in the step 3); If the vertical element number that returns in the step 3) is zero or the cross track distance that obtained by GPS locating module 9 outside preset range the time, then enable the GPS navigation pattern; Wherein, under the GPS navigation pattern, enter step 5); Under infrared vision guided navigation pattern, enter step 6); Under the manual remote control pattern, enter step 7);
5) from flash memory 11, read the distributing position information of detected power transmission line and the coordinate information of default flight path; Position coordinates, speed and the flying height obtained in the step 1) and the flight path of presetting are compared, calculate departure, utilize master controller DSP 3 to transmit control signal to motor-drive circuit 14 and steering wheel driver 15, direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled, realize driftage control, speed control and highly control, make robot airship along default flight path flight;
6) according to the cross track distance that obtains in the step 3) and crab angle and flying height that from step 1), reads and speed, utilize master controller DSP 3 to transmit control signal to motor-drive circuit 14 and steering wheel driver 15, direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled, the course of realizing dirigible is controlled, is highly controlled and speed control, makes robot airship along the flight of pole line top;
7) ground staff is by course control signal, height control signal and the speed control signal of manual controller 20 input dirigibles, and these signals are sent to ship carrier radio communication module 10 by terrestrial wireless communication module 19, be sent to motor-drive circuit 14 and steering wheel driver 15 through master controller DSP 3, direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled.
Fig. 2 has provided under the Simulink emulation platform, carries out the simulated effect figure that two dimension flight is patrolled and examined under infrared vision guided navigation pattern.When specifically implementing the high voltage overhead power circuit detected, open the manual remote control pattern earlier, take off by ground staff's remote-controlled robot dirigible, and after arriving the position of 10 meters to 20 meters of pole line oblique uppers, close the manual remote control pattern, enter infrared vision guided navigation pattern, robot airship begins to fly along line of electric force, simultaneously transmit information such as infrared image, flight parameter, video image earthward, be used for power line failure diagnosis and flight monitoring.As seen from Figure 2, dirigible can fly along the pole line that band is patrolled and examined.

Claims (4)

1. pole line crusing robot dirigible control system, comprise ship loading system (1) and ground system (2) two parts, it is characterized in that: ship loading system (1) comprises master controller DSP (3), image processor DSP (4), infrared CCD (5), inclinator (6), accelerometer (7), altitude gauge (8), GSP locating module (9), ship carrier radio communication module (10), flash memory (11), 16 dynamic storagies (12), 32 dynamic storagies (13), motor-drive circuit (14), steering engine controller (15) and wireless camera (21); Master controller DSP (3) is connected with 16 dynamic storagies (12) with flash memory (11) by opening up bus outward, and image processor DSP (4) is connected with 32 dynamic storagies (13) by opening up bus outward; The XINTF port of image processor DSP (4) is connected to the XINTF port of master controller DSP (3); The digital video signal output terminal of infrared CCD (5) output is connected to the HPI port of image processor DSP (4), inclinator (6), accelerometer (7) and altitude gauge (8) link to each other with mould/number conversion interface of master controller DSP (3) respectively, and GSP locating module (9) links to each other with the serial ports of master controller DSP (3) respectively with ship carrier radio communication module (10); The motor-drive circuit (14) that drives direct current generator links to each other with the PWM output interface of master controller DSP (3); The serial ports input end that drives the steering wheel driver (15) of steering wheel links to each other with the serial ports of master controller DSP (3); Ground system (2) comprises ground PC (16), interface single-chip microcomputer (17), level transferring chip MAX232 (18), terrestrial wireless communication module (19), manual controller (20), CCD receiving terminal (22) and picture monitor (23); The RS232 interface of ground PC (16) links to each other with the RS232 interface end of level transferring chip MAX232 (18), the TTL end of level transferring chip MAX232 (18) connects and links to each other with a serial ports of single-chip microcomputer (17), another serial ports of interface single-chip microcomputer (17) is connected with terrestrial wireless communication module (19), the analog to digital conversion interface of interface single-chip microcomputer (17) is connected with the control signal output ends of manual controller (20), and the I/O pin of interface single-chip microcomputer (17) is connected with the output signal end of the manual mode switch of manual controller (20); The AV signal output part of CCD receiving terminal (22) links to each other with the AV signal input part of picture monitor (23); Ship loading system (1) and ground system (2) are realized writing to each other by ship carrier radio communication module (10) and terrestrial wireless communication module (19); Wireless camera (21) CCD receiving terminal (22) earthward sends vision signal, and is presented on the picture monitor (23).
2. pole line crusing robot dirigible control system according to claim 1 is characterized in that, master controller DSP (3) is 16 floating type digital signal processors of TMS320F2812 type; Image processor DSP (4) is 32 floating type digital signal processors of TMS320C6711B type; Inclinator (6) is a twin shaft SA100T signal inclination angle sensing instrument; Accelerometer (7) is for having three MMA7260 acceleration sensing chips of 3 tunnel simulating signals output; Altitude gauge (8) is a HP03 type baroceptor; GSP locating module (9) is a ST-93 type GPS module.
3. be used for the control method of the described pole line crusing robot of claim 1 dirigible control system, it is characterized in that controlled step is as follows:
1) attitude angle, acceleration, flying height and the position coordinate parameters that utilizes inclinator (6), accelerometer (7), altitude gauge (8) and GSP locating module (9) to read dirigible delivered to master controller DSP (3), by to integrated acceleration computing acquisition speed, carry out the data processing of change of scale, integral operation and low-pass filtering and be stored in flash memory (11);
2) flight path, flight attitude and the battery electric quantity parameter that will be stored in flash memory (11) sends to terrestrial wireless communication module (19) by ship carrier radio communication module (10), and is stored in ground PC (16); The image that wireless camera (21) is taken transfers to the CCD receiving terminal (22) on ground by wireless video signal, and is presented on the picture monitor (23);
3) image processor DSP (4) adopts the Flame Image Process integration algorithm based on rim detection, Hough conversion and feature screening technique, the image that infrared CCD (5) is gathered carries out analyzing and processing, obtain the equation in coordinates of power transmission line place straight-line segment, and calculate the bee-line and the angle of this straight-line segment and consult straight line, obtain the cross track distance and the crab angle of robot airship;
4) image information of obtaining in cross track distance that obtains according to GPS locating module (9) and the step 3), in GPS navigation pattern, infrared vision guided navigation pattern and manual remote control pattern, carry out three and select one switching: if the manual mode switch of manual controller (20) is then enabled the manual remote control pattern for opening; Under the prerequisite that the manual remote control mode switch is closed,, then enable infrared vision guided navigation pattern if when the non-vanishing and cross track distance that obtained by GPS locating module (9) of the vertical element number that returns is in preset range in the step 3); If the vertical element number that returns in the step 3) is zero or the cross track distance that obtained by GPS locating module (9) outside preset range the time, then enable the GPS navigation pattern; Wherein, under the GPS navigation pattern, enter step 5); Under infrared vision guided navigation pattern, enter step 6); Under the manual remote control pattern, enter step 7);
5) from flash memory (11), read the distributing position information of detected power transmission line and the coordinate information of default flight path; Position coordinates, speed and the flying height obtained in the step 1) and the flight path of presetting are compared, calculate departure, utilize master controller DSP (3) to transmit control signal to motor-drive circuit (14) and steering wheel driver (15), direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled, realize driftage control, speed control and highly control, make robot airship along default flight path flight;
6) according to the cross track distance that obtains in the step 3) and crab angle and flying height that from step 1), reads and speed, utilize master controller DSP (3) to transmit control signal to motor-drive circuit (14) and steering wheel driver (15), direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled, the course of realizing dirigible is controlled, is highly controlled and speed control, makes robot airship along the flight of pole line top;
7) ground staff is by course control signal, height control signal and the speed control signal of manual controller (20) input dirigible, and these signals are sent to ship carrier radio communication module (10) by terrestrial wireless communication module (19), be sent to motor-drive circuit (14) and steering wheel driver (15) through master controller DSP (3), direction angle of rudder reflection, thruster rotating speed and elevating rudder drift angle are controlled.
4. the control method of pole line crusing robot dirigible control system according to claim 3, it is characterized in that, said image processor DSP (4) adopts the Flame Image Process integration algorithm based on rim detection, Hough conversion and feature screening technique in the step 3), the image that infrared CCD (5) is gathered carries out analyzing and processing, and its step is as follows: a) image processor DSP (4) reads in height, the width parameter of single-frame images and memory image; B) handle boundary operator, adopt the Canny boundary operator to extract the high zone of contrast, as object edge; C) object edge is carried out the Hough conversion, get rid of jamming pattern, select line segment above preseting length; D) leave out the line segment that intersects with main section; E) by the distance algorithm of Hough conversion, it is the straight line section also that object edge is handled two line segments that produce, and obtains the equation in coordinates of power transmission line place straight line.
CN2010101254806A 2010-03-16 2010-03-16 Robot airship control system for overhead line inspection and control method thereof Expired - Fee Related CN101807080B (en)

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