基于多传感器的超高压输电线路巡检机器人越障控制  

Obstacle-navigation Control of Automatic Inspection Robot for Extra-high Voltage Power Lines Based on Multi-sensor

作　　者：宋树伟[1] 阮毅[1] 李正[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机床与液压》2013年第7期51-54,58,共5页Machine Tool & Hydraulics

摘　　要：根据500 kV超高压架空输电线路的结构及障碍特点,设计多传感器、多驱动器巡检机器人越障控制方案,提出采用多传感器二次定位方法实现巡检机器人越障时的空间定位。阐述系统的结构和越障原理,通过线下模拟实验环境,不断测试生成合理的知识库,实际越障时根据实测信号自动调用知识库完成自主越障动作。实验结果表明:传感器工作可靠,知识库和空间定位方法设计合理,巡检机器人能高效、快速、高精度地完成巡检及越障任务。An inspection robot obstacle-navigation control scheme based on multi-sensor and multi-drive was designed according to the structure and hurdles characteristics of 500 kV extra-high voltage overhead power lines. The second positioning method based on multi-sensor was proposed to achieve spatial orientation when the inspection robot was crossing obstacle. The structure of the system, obstacle-navigation principle and inspection method were expounded. Through constantly offline test, reasonable knowledge base was generated Based on the measurement signals, the knowledge base was invoked automatically to complete the action of automatic obstacle-navigation. Experimental results show that the sensor works reliably, the knowledge base and spatial orientation method are designed reasonably, the inspection and obstacle-navigation task can be completed effectively, fast and precisely.

关 键 词：巡检机器人 越障控制 超高压架空输电线路 空间定位 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]