一种改进的超高压输电线路巡检机器人越障方法  

An Improved Obstacle Navigation Method for Ultra-high Voltage Power Line Inspection Robot

作　　者：孙翠莲[1] 王洪光[1] 王鲁单[1] 赵明扬[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学开放实验室

出　　处：《机器人》2006年第4期379-384,共6页Robot

基　　金：国家863计划资助项目(2002AA420110)

摘　　要：介绍了一种新型的超高压输电线路巡检机器人,阐述了分阶段的控制策略.主要针对越障的工程实际问题,从理论上分析了越障阶段的难点:质心调节,输电线的辨识与定位问题.进行了仿真和试验,验证了控制策略和理论分析的正确性.A new inspection robot for ultra-high voltage power line is introduced, and a piecewise control strategy is described. For the main engineering problems in obstacle navigation, the difficulties in the obstacle navigation phase are analyzed theoretically, i.e. adjusting the center of mass and identifying and localizing the power line. Simulation and experimental results demonstrate that the control strategy and theoretical analysis are valid.

关 键 词：超高压输电线路 巡检机器人 越障 辨识 定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]