Pan-tilt control system and pan-tilt control method for inspection robot of transformer substation

2012 
The invention discloses a pan-tilt control system for an inspection robot of a transformer substation. The pan-tilt control system runs on a pan-tilt controller, the pan-tilt controller is connected with a motor driving module and an angle detection module which are further connected with a pan-tilt body, and the pan-tilt controller is connected with a robot controller. The pan-tilt control system comprises a system initialization module, the system initialization module is connected with a task scheduling module, the task scheduling module is directly connected with a system idle module, an asynchronous task management module and a system monitoring module, and the asynchronous task management module is respectively connected with a data receiving and transmitting module, a system configuration module and a presetting position control module. The pan-tilt control system effectively overcomes shortcomings of an existing pan-tilt technical scheme, has the advantages of flexibility in configuration, convenience in extension, fault detection and recovery capacities and capability of being conveniently integrated with the inspection robot, and is quite suitable for inspection application to transformer substations in powerful electromagnetic environments.
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