自主越障巡线机器人控制系统设计  

Design of Control System for Autonomous Obstacle Crossing Transmission Line Inspection Robot

作　　者：饶勇建 鲁彩江 杨宜儒 吴刚 付国强[1,2,3] RAO Yongjian;LU Caijiang;YANG Yiru;WU Gang;FU Guoqiang(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;Technology and Equipment of Rail Transit Operation and Maintenance,Key Laboratory of Sichuan Province,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,成都610031 [2]浙江大学流体动力与机电系统国家重点实验室,杭州310027 [3]西南交通大学轨道交通运维技术与装备四川省重点实验室,成都610031

出　　处：《自动化与仪器仪表》2022年第5期57-62,共6页Automation & Instrumentation

基　　金：国家自然科学基金(52175486,52175519,51805457);四川省科技计划项目(2022YFG0218);流体动力与机电系统国家重点实验室开放基金课题资助(GZKF-202104).

摘　　要：为了自主越障巡线机器人能够安全可靠地完成各项线上工作任务,将其控制系统整合划分为三个子系统:机载控制系统、远程上位机、实时视频传输系统,通过各子系统之间的通信、配合来提高系统整体的稳定性与可靠性。机载控制系统负责电机驱动、电源管理、传感器数据采集、接收与处理远程上位机指令等任务;远程上位机负责发送控制指令、接收并处理机载系统传回的信息(传感器数据、电机状态、机器人状态等);实时视频传输系统负责将机载相机采集的原始或处理后的视频、图像传回后台,以便于远程巡检、控制、故障排查等的使用。在完成了各子系统的设计与软硬件实现后,针对各子系统的各项功能在架空输电线路上进行了多项验证实验,验证了设计的自主越障巡线机器人控制系统的可靠性与稳定性。In order to complete various online tasks safely and reliably,the control system of the autonomous obstacle crossing transmission line patrol robot is divided into three subsystems:onboard control system,remote host computer and real-time video transmission system.The overall stability and reliability of the system are improved through the communication and cooperation between the subsystems.The onboard control system is responsible for motor drive,power management,sensor data acquisition,receiving and processing remote host computer instructions and other tasks;The remote upper computer is responsible for sending control instructions,receiving and processing the information returned by the onboard system(sensor data,motor status,robot status,etc.);The real-time video transmission system is responsible for transmitting the original or processed video and images collected by the onboard camera back to the background,so as to facilitate the use of remote inspection,control and troubleshooting.After completing the design and software and hardware implementation of each subsystem,a number of verification experiments are carried out on the overhead transmission line according to the functions of each subsystem to verify the reliability and stability of the designed control system of the autonomous obstacle crossing transmission line inspection robot.

关 键 词：巡线机器人 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]