一种飞行巡线机器人的设计与实现  

Design and Implementation of Flight Line Inspection Robot

作　　者：李论 彭晓燕 杨程富 周蔚勇 LI Lun;PENG Xiao-yan;YANG Cheng-fu;ZHOU Wei-yong(School of Big Data and Information Engineering,Guizhou University,Guiyang Guizhou 550025,China)

机构地区：[1]贵州大学大数据与信息工程学院,贵州贵阳550025

出　　处：《通信技术》2020年第4期1032-1038,共7页Communications Technology

基　　金：贵州省科技计划项目(黔科合平台人才[2018]5781-48号);贵州大学2019年实验室开放项目(No.SYSKF2019-019)。

摘　　要：针对2019年全国大学生电子设计竞赛中要求设计制作一款四旋翼飞行器的巡线机器人来实现对电力线路进行自动巡检、巡查和巧遇故障时自动拍照存储记录等功能,设计提出了一种基于四旋翼飞行器的巡线机器人的设计方案。采用高性能微控制器TM4C123GH6PM作为巡线机器人的飞控主处理器,为了满足自动巡检任务,在飞控板上增加了视觉Open MV传感器、姿态传感器和超声波模块协同作用来识别线缆、定高和测距。实验结果表明,设计的四旋翼巡线机器人能够在多种飞行速度和无路径规划条件下完成正常的电力线路巡检任务。Aiming at the requirements of 2019 National College Student Electronic Design Competition,a line-inspection robot with a quad-rotor aircraft is proposed and designed so as to implement automatic inspection of power lines,and automatic photographing and storage of records when encountering faults.In this design scheme,the high-performance microcontroller TM4C123GH6PM is used as the flight-control main processor of the line inspection robot.In order to meet the automatic inspection task,a visual Open MV sensor,attitude sensor and ultrasonic module are added to the flight control board to coordinately identify the cable,altitude and distance.The experimental results indicate that the designed four-rotor line inspection robot can complete normal power line inspection tasks under a variety of flight speeds and without path planning.

关 键 词：四旋翼飞行器 巡线机器人 电力线缆巡检 视觉传感器 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]