Active disturbance rejection control of indoor inspection robot in intelligent substation based on monocular vision

Abstract

In order to improve the autonomous digging ability of the inspection robot, an auto disturbance rejection control method based on monocular vision is designed for the indoor inspection robot in the intelligent substation. Through tracking and detecting the end position and posture changes of the robot in the x-z plane during the operation of the robot in the intelligent substation, and mining the abnormal data, and combining with the PID control principle, the inspection robot single view automatic disturbance rejection control method is designed The visual interference information is cleaned and denoised to realize the auto disturbance rejection and autonomy of the indoor inspection robot monocular vision pan-tilt. Due to the adjustment of the operating parameters of the pan-tilt active disturbance rejection controller based on monocular vision of the indoor inspection robot, it is difficult to set the parameters due to the interaction between the parameters. Furthermore, the parameters of the ADRC are adjusted and optimized to meet the research requirements of the effective control of the pan-tilt active disturbance rejection of the indoor inspection robot in the substation. Finally, the experimental results show that compared with the traditional methods, the control accuracy and strong robustness of the indoor inspection robot in the substation are significantly improved, which fully meets the research requirements.