110kV输电线路巡线机器人  

An inspection robot running on 110 kV power transmission line

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：《中国电力》2008年第3期32-35,共4页Electric Power

基　　金：国家863计划资助项目(2002AA420110-4)

摘　　要：针对110kV输电线路具有防震锤、耐张线夹、悬垂线夹、跳线、转弯等诸多障碍,线路与障碍物的相对位姿和形态不是非常固定的特点,介绍了一种全新的运行于该输电线路的巡线机器人。机器人本体机构综合了多节分体机构和轮臂复合机构的优点,行车运动机理兼容了轮式移动和步进式蠕动爬行的特点,刚度大、姿态稳定性好、跨越障碍能力强、巡检速度有保证。机器人控制系统由地面遥控/数据接收移动基站和本体控制单元组成。本体控制单元采用2层分布式计算机控制结构,规划层用于机器人管理和路径规划,执行层用于机器人的姿态和运动控制。运行实验表明,机器人较好地实现了自主越障,能够完成规定的巡检任务,具有广阔的应用前景。Aim at the relative position between inspection route and obstacle is not fixed because of the existence of obstacles such as weights, clamps, tendency, skip lines, swerve, along 110 kV power transmission line, a new inspection robot running on this line is introduced. Robot mechanical structure integrates the merit of multi-section split mechanism and rotational arm combined mechanism, and driving movement mechanism synchronizes the characteristics of wheeled migration and stepping wiggle, which has a big Rigidity, good attitude stability, strong ability of leaping obstacles, good guarantee of patrol speed. The robot control system is composed of mobile station used for ground remote control/data reception and main body control unit. Two-layer distributed computer control structure is adopted to control the robot＇s movement. The planning layer is used for the management and path planning of the robot, and the direct-control layer is for the control of the moving and posture of the robot. On-line experiment results show it is a satisfactory solution to negotiate obstacles automatically, and to fulfill the task of specified inspection preferably, and demonstrates its broad application prospect.

关 键 词：输电线路 巡线 机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]