巡检机器人云台远程控制系统的设计
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摘要
巡检机器人云台控制系统是机器人完成巡检任务的关键部分之一,建立了机器人终端和远程监控间的通信,制定了精简的云台通信协议,设计了远程监控人机交互界面,提出按权重分配带宽算法来提高图像传输质量,最终实现云台的远程控制。测试结果表明,该云台远程控制系统稳定可靠,提高了通信效率,对巡检行业具有一定的适用性和参考价值。
PTZ(pan tilt zoom)control system is one of the key parts for the robot to complete the inspection task.The communication between robot and the remote control terminal was built,and a PTZ control protocol was proposed,then an interface for the remote monitor was designed. In order to improve the video transmission quality,a bandwidth distribution algorithm was put forword according to the weight,finally the remote PTZ control was realized. The test results show that the remote control system is stable and reliable,and also improves the communication efficiency. It has certain applicability and reference value for the inspection industry.
PTZ(pan tilt zoom)control system is one of the key parts for the robot to complete the inspection task.The communication between robot and the remote control terminal was built,and a PTZ control protocol was proposed,then an interface for the remote monitor was designed. In order to improve the video transmission quality,a bandwidth distribution algorithm was put forword according to the weight,finally the remote PTZ control was realized. The test results show that the remote control system is stable and reliable,and also improves the communication efficiency. It has certain applicability and reference value for the inspection industry.
引文
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[2]施金晓,邰能灵,徐新星,等.变配电站远程机器人巡视系统研究[J].电力科学与技术学报,2017,32(1):23-28.
[3]兰建军,李春来,刘寅东.光伏电站巡检机器人电磁导航系统设计[J].电测与仪表,2017,54(9):30-34.
[4]张燕东,田磊,李茂清,等.智能巡检机器人系统在火力发电行业的应用研发及示范[J].中国电力,2017(1):1-6.
[5]彭向阳,吴功平,金亮,等.架空输电线路智能机器人全自主巡检技术及应用[J].南方电网技术,2017,11(4):14-22.
[6]周立辉,张永生,孙勇,等.智能变电站巡检机器人研制及应用[J].电力系统自动化,2011,35(19):85-88,96.
[7]肖鹏,王海鹏,曹雷,等.变电站智能巡检机器人云台控制系统设计[J].制造业自动化,2012,34(1):105-108.
[8]鲁守银,张营,李建祥,等.移动机器人在高压变电站中的应用[J].高电压技术,2017,43(1):276-284.
[9]吴琼,袁建英.基于ZigBee和Wifi网络的抗同频干扰技术研究[J].仪表技术与传感器,2013(12):102-104,108.
[10]马承志,王宇雷,杨玺,等.用于变电站自主巡视机器人的图像传输系统研究[J].电力系统保护与控制,2014,42(18):105-109.