一种输电线路巡检机器人控制系统的设计与实现  

Design and Implementation of the Control System of a Power Transmission Line Inspection Robot

作　　者：王鲁单[1] 王洪光[1] 房立金[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重点实验室

出　　处：《机器人》2007年第1期7-11,17,共6页Robot

基　　金：国家863计划资助项目(2002AA420110)

摘　　要：介绍了一种超高压输电线路巡检机器人控制系统的设计与实现方法.根据巡检作业任务的要求,采用遥控与局部自主相结合的控制模式实现巡检机器人沿线行走及跨越障碍.设计了巡检机器人有限状态机模型,实现了机器人遥控与局部自主控制的有机结合.采用基于激光传感器定位的方法实现了巡检机器人的自主越障控制.实验结果表明,该机器人可实现沿线行走及自主跨越障碍,从而验证了控制系统设计的有效性与合理性.This paper presents a design and implementation method for the control system of extra high power transmission line inspection robot. According to the inspection task requirements, a control mode which combines remote-control with local autonomous control is applied for the robot to travel along the wires and navigate obstacles. A finite state machine model is developed for the robot to integrate remote-control and local autonomous control. A localization method based on laser sensots is adopted to achieve the autonomous obstacle-navigation control. Experiment results show that the robot can travel along the wires and nhvigate obstacles autonomously, which proves the validity and rationality of the control system design.

关 键 词：巡检机器人 有限状态机 越障控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]