基于树莓派的预防性轻型除冰机器人行走控制系统设计

针对现有除冰机器人结构复杂、重量大、采用事后式除冰方式以及未能根据线路状况对行走除冰控制策略进行协调的缺陷,设计了一种基于树莓派的预防性轻型除冰机器人行走控制系统。该系统首先通过温湿度模块检测作业环境、自主决策行走除冰动作;然后通过倾角模块检测线路仰俯角、图像采集模块捕捉覆冰状况,之后树莓派综合考虑线路阻力和覆冰除冰的约束实现行走除冰的协调控制;结合超声波模块对往复行走折返点进行判定,实现不间断的往复式预防性除冰。整个装置采用单电机驱动,降低装置重量、简化机构实现轻型设计。最后对样机行走控制系统进行试验分析并作出总结。

Design of Preventive Light Deicing Robot Walking Control System Based on Raspberry Pie

In view of defects of existing deicing robots such as complex structure,heavy weight,the after-the-fact deicing method and the failure to coordinate the walking and deicing control strategy according to the line conditions,a raspberry-based preventive light deicing robot walking control system was designed.Firstly,the working environment was detected by the temperature and humidity module,the walking deicing action was determined.Then,the line pitch angle was detected by the tilting module,the overlay was captured by the image acquisition module,the coordinated control of walking and deicing was realized by the raspberry pie(RPI)comprehensively considering the line resistance and the ice-covered and deicing constraint;combining the ultrasonic module,the reciprocating walking reentry point was determined,the uninterrupted reciprocating preventive deicing was realized;the whole device was driven by a single motor,which could reduce the weight and the agency of the device to realize the light design.Finally,the prototype analysis system was analyzed and summarized.