改进的穿越越障巡检机器人设计及越障动作规划  

Advanced Design and Motion Plan of an Improved Inspection Robot Running Across Obstacles

作　　者：何缘[1] 吴功平[1] 王伟[1] 杨智勇[1] 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072

出　　处：《四川大学学报（工程科学版）》2015年第6期157-164,共8页Journal of Sichuan University (Engineering Science Edition)

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA04Z202)

摘　　要：基于穿越越障方式对巡检机器人进行了改进设计,并针对此种越障方式,对地线线路上的防震锤、悬垂线夹及耐张杆塔等线路金具进行了结构改造,采用仿真软件对易出现应力集中的悬垂线夹结构进行了强度校核以保证机器人的安全运行。同时,针对机器人结构设计特点和改造后的线路金具特点,对机器人的越障动作做出了合理的规划。在武汉大学机器人试验场搭建1∶1的高压输电线路试验平台,对巡检机器人的越障性能和效率进行了测试,结果表明,该巡检机器人能够顺利穿越架空地线上改造后的防震锤、悬垂线夹和干字型耐张杆塔等障碍物,相较于以往的巡检,具有更高的效率和安全性,且可穿越以往机器人不能越过的干字型杆塔障碍。The inspection robot along the ground wire has been widely studied and applied to the detection for high voltage transmission line because of its significant advantage of extensive vision. Since the inspection robot could not go through the ground wire fittings directly,it is a significant challenge to study the way for the robot to navigate these obstacles. Based on the comprehensive considerations of the structure characteristics of the ground line fittings,the reconstruction schemes for the damp,the suspension clamp,and the top of tension tower were proposed. The strength calculation of the reconstructed suspension clamp was also checked. A new inspection robot with the integrated structure designate method was implemented. The motion plan for the robot to run across obstacles was also proposed with the consideration of the characteristics of the reconstructed obstacle fittings. In order to test the reliability and efficiency of the robot to navigate these obstacles,an experimental system with 1∶ 1 of practical high voltage transmission line and ground wire fittings was established in the experiment field at Wuhan University. The obstacle negotiation test results showed that the inspection robot runs safely and has higher efficiency to cross the ground line fittings.

关 键 词：巡检机器人 穿越越障 金具改造 动作规划 干字型杆塔 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]