高压输电线路智能巡检机器人的研制与应用  

Development of an intelligent inspection robot for high voltage transmission lines and its application

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：《武汉大学学报（工学版）》2016年第3期446-451,464,共7页Engineering Journal of Wuhan University

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

摘　　要：以实现穿越越障巡检机器人长距离自主运行为目的,对机器人的机械结构、电能在线补给和智能控制作了深入研究.优化机械结构使设备尺寸更小、重量更轻、能耗更低、行走轮使用寿命更长;通过太阳能充电基站的设立提高机器人的续航能力;优化基于作业环境信息和机器人运行状态信息的自主行为控制方法,提出了智能巡检机器人的完备体系结构及其全自主行为能力的智能控制方法.根据该方法设计制造了高压输电线路巡检机器人,并在吉林白山的高压输电线路上进行了20km的示范运行,结果表明,该机器人具有长距离自主运行的能力,相较于以往机器人,在巡检效率和续航能力等方面有了很大提高.In order to make inspection robots run along the lines for a long distance, several studies and im- provements were made： （1） controlling the size and weight by compacting the mechanism structure; （2） improving the power supply by charging on line with solar power charge; （3） optimizing the autonomous behavior control method basing on the working environment and operating condition information. And then a comprehensive system framework of the intelligent inspection robot and an intelligent control meth- od for independent behavior are proposed to make the inspection robot operate along the lines for a long distance. The inspection robot was made and carried to operate on the high voltage transmission line with 20 km in Baishan, Jilin province. The results of the operation show that the inspection robot could not on- ly work along the lines for a long distance automatically, but also fulfill the inspect task efficiently.

关 键 词：巡检机器人 机械结构 电能补给 智能控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]