基于有限状态机的输电线路巡检机器人自主越障运动控制方法  

Autonomous Obstacle-crossing Motion Control Method of Transmission Line Inspection Robot Based on Finite State Machine

作　　者：王吉岱[1] 梁茂轩 孙爱芹[1] 王云霞 侯建国 张斌[2,3] WANG Jidai;LIANG Maoxuan;SUN Aiqin;WANG Yunxia;HOU Jianguo;ZHANG Bin(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao Shandong 266590,China;NARI Technology Co.,Ltd.,Nanjing Jiangsu 211106,China;NARI Group Corporation(State Grid Electric Power Research Institute),Nanjing Jiangsu 211106,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590 [2]国电南瑞科技股份有限公司,江苏南京211106 [3]南瑞集团(国网电力科学研究院)有限公司,江苏南京211106

出　　处：《机床与液压》2022年第5期21-27,共7页Machine Tool & Hydraulics

基　　金：国家电网公司科技项目(5200-201916261A-0-0-00)。

摘　　要：针对输电线路巡检机器人自主越障运动控制复杂、越障效率低等问题,以一款五臂式巡检机器人为例,通过规划与分析机器人越障动作序列,基于有限状态机理论,提出一种机器人自主越障运动控制方法。通过建立以传感器检测信息为迁移条件的越障运动控制模型,对机器人自主越障运动进行控制;将机器人置于线路环境进行巡检实验。结果表明:该机器人能自主识别并稳定、高效地跨越线路障碍,完成巡检任务,验证了机器人系统的合理性及自主越障运动控制方法的可行性。Aiming at the problems of complex and low efficiency of autonomous obstacle-crossing motion control of transmission line inspection robot,taking a five-arm inspection robot as an example,an autonomous obstacle-crossing motion control method was proposed based on finite state machine theory by planning and analyzing the robot obstacle-crossing action sequence.The motion control model of autonomous obstacle-crossing was established with sensor detection information as migration condition,the autonomous obsta⁃cle-crossing movement of robot was controlled;the robot was placed in the line environment for inspection experiment.The results show that the robot can recognize,stably and efficiently cross line obstacles and complete the inspection task,which verifies the rationality of the robot system and the feasibility of the control method of autonomous obstacle-crossing movement.

关 键 词：输电线路巡检机器人 自主越障 有限状态机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]