单柱钢管杆塔自主柔性对接系统研究  

Research on Autonomous Flexible Docking System for Single-Post Steel Pipe Towers

作　　者：庞浩 阮周杰 蔡伟杰 刘瑞佳 胡正乙 PANG Hao;RUAN Zhoujie;CAI Weijie;LIU Ruijia;HU Zhengyi(School of Mechanical and Aerospace Engineering,Jilin University,Changchun 130022,China;Academy for Electromechanical,Changchun Polytechnic,Changchun 130022,China;Scientific Research Department,Changchun Technical University of Automobile,Changchun 130062,China)

机构地区：[1]吉林大学机械与航空航天工程学院,长春130022 [2]长春职业技术学院机电学院,长春130022 [3]长春汽车职业技术大学产教融合发展中心,长春130062

出　　处：《吉林大学学报(信息科学版)》2025年第1期43-48,共6页Journal of Jilin University(Information Science Edition)

基　　金：吉林省教育厅科学研究基金资助项目(JJKH20241270KJ)。

摘　　要：针对目前电力系统中单柱钢管杆塔的对接主要依赖人工操作,风险系数高,耗时费力的问题,笔者研究了在特定技术条件和环境下,单柱钢管杆塔的自主对接技术,并提出了一种基于视觉导航的单柱钢管杆塔自主柔性对接系统。该系统利用内置的微控制器,实现了精准定位功能,并通过图像跟踪控制技术,自主完成对接任务。该微控制器通过其卓越的计算性能,极大地简化了技术人员的操作流程,提升了工作效率。并对单柱钢管塔在二维平面上的对接进行了数值模拟和硬件试验。研究结果表明,通过配备推进器与小型控制力矩陀螺仪,该系统能有效控制对接目标精确抵达对接端口,精准与高效实现对接。Currently,the docking of single-column steel pipe towers in power systems mainly relies on manual implementation,which has a high risk factor and is time-consuming and laborious.Aiming to research the autonomous docking technology of single-column steel pipe tower for this specific technical condition and environment,a vision-based navigation-based hydraulically driven autonomous flexible docking system for single-column steel pipe tower is proposed.The single-post steel pipe tower autonomous flexible docking system uses a microcontroller that enables autonomous positioning and docking through image tracking control,and the computational performance of the microcontroller makes it easier for technicians to operate.Numerical simulations and hardware tests are carried out for the docking of a single column steel pipe tower in the two-dimensional plane.The results show that the effectiveness of the proposed method is verified by controlling the motion of the steel pipe tower assembly at the docking interface using a small steel pipe tower model with air bearings in the two-dimensional plane with a minimum propellant thruster and a small control moment gyroscope.

关 键 词：视觉导航 自主柔性对接 图像跟踪控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]