输电线路巡检机器人远程测控系统的研究与实现  

Tele-Supervisory System on Inspection Robot for Power Transmission Lines

作　　者：史雨雨 佃松宜[1] 吴璋[1] 董航[1] 彭聿松[1] 

机构地区：[1]四川大学电气信息学院,四川成都610065

出　　处：《测控技术》2015年第2期77-80,84,共5页Measurement & Control Technology

基　　金：四川省高校院所应用成果转化项目计划(12DXYB171JH-002)

摘　　要：开发了一种针对输电线路巡检机器人的新型远程测控系统。该系统通过与机器人本地控制器的实时通信和多线程技术实现机器人姿态监控和机器视觉检测。通过对机器人控制器发送命令和接收数据实现对机器人的人工遥操作;采用Matlab Script节点实现Matlab与LabVIEW混合编程,完成机器人质心和多关节姿态的计算,采用共享数据库方式调用基于Visual Prolog开发的机器人行为规划应用程序,实现机器人姿态自主控制。实验结果表明,该远程测控系统运行可靠,实时性强,具有良好的人机交互能力。A new type of tele-supervisory system is developed for power transmission line inspection robot.By real-time communicating with robot local controller and multi-thread technology,this system realizes robot attitude control and machine vision detection.By sending control commands and receiving data to the robot controller,robot artificial remote tele-operation is achieved,along with mixed programming of Lab VIEW and Matlab by using Matlab Script node for purpose of the calculation of centroid and multi-joint attitude.And by sharing databases between LabVIEW and Visual Prolog to call application functions of robot motion planning developed by the latter,robot autonomous attitude control is achieved.The results of experiments show that the system has strong real-time performance,good interactivity and acceptable reliability.

关 键 词：输电线路 巡检机器人 远程测控 LabVIEW Matlab VISUAL PROLOG 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置]