110kV输电线路巡线机器人控制方法及实现  

Control method and implementation of an inspection robot for 110 kV power transmission lines

作　　者：周风余[1] 吴爱国[1] 李贻斌[1] 

机构地区：[1]天津大学电气与自动化工程学院

出　　处：《山东大学学报（工学版）》2007年第6期31-35,共5页Journal of Shandong University（Engineering Science）

基　　金：国家863计划(2002AA420110-4)资助项目用

摘　　要：首先对巡线机器人的控制系统进行了简单介绍,然后重点阐述了一种新型的基于分布式专家系统的高压架空输电线路自动巡线机器人的控制方法和实时实现.提出了一种基于规则和证据的可信度的分布式专家系统的协调算法.采用CLIPS,C和VC++等计算机语言实现了该控制方法.在线运行实验表明,该控制方法不仅可以控制机器人自主跨越输电线路上的各种典型障碍,而且对于特别复杂的环境,如跨越转弯跳线时,通过两个专家系统的协作,机器人的巡线工作也能顺利进行.First, the control system of the 110 kV power transmission line inspection robot was introduced. Then a new control method and its real-time implementation for the robot were presented based on expert system. An algorithm was proposed to coordinate the operations between distributed expert systems, in which the principle of the goodness to fit to the rules and facts is employed for the decision making and reasoning mechanism. To implement the control method, a combination of computer languages including C, VC ＋ ＋ and CLIPS was adopted, which provide a convenient and effective software platform. On-line experimental results show that the control method can guide the inspection robot to patrol along the transmission lines and efficiently cross various typical obstacles. At the locations of corners and bends of the transmission line, more complicated obstacles occur, so two sub-expert systems work together and guide the robot smoothly through the locations.

关 键 词：电力传输线 巡线 机器人 专家系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]