高压巡线机器人穿越耐张杆塔的程序实现  

Program of Robot for High-voltage Transmission Line to Cross Strain Tower

作　　者：李伟[1] 胡睿[2] 

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]武汉大学动力机械学院,湖北武汉430072

出　　处：《计算机测量与控制》2010年第4期956-958,共3页Computer Measurement &Control

基　　金：国家"863"计划资助项目(2002AA420110-6;2005AA42006-1);湖北省自然科学基金项目(2004ABA064)

摘　　要：通过对高压输电线路中耐张杆塔部分的电磁场进行理论和试验分析,根据电磁场的分布规律对导航电磁传感器的布置进行试验研究,提出了相应的控制对策,根据对策编制控制程序;通过传感器测定紧耐张线夹的压接部分离夹爪的距离,实现了机器人在三维空间的定位和夹紧,完成自主穿越耐张杆塔;试验表明采用传感器补偿算法的控制程序,巡线机器人自主穿越耐张杆塔障碍是可行的。The paper analyses the electromagnetic field theoretically and experimentally which is on the strain tower of high-voltage transmission line, then researches the layout of magnetic sensors for navigation according the distribution of electromagnetic field, and proposes an control measure, according to the program for the preparation of control. The test realized to detect the distance from the inspection robot to the strain tower by the magnetic sensors for navigation, and realized for the inspection robot to pass through the barriers of the strain tower. The experimental result shows that by using the control program, it is feasible for the inspection robot to cross the barriers of the strain tower autonomously.

关 键 词：巡线机器人 电磁场 控制对策 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]