基于无线传感器的带电作业机器人远程控制  

Remote control of live working robot based on wireless sensor

作　　者：梁加凯 汤春俊 朱凯 方玉群 祝强 LIANG Jia-kai;TANG Chun-jun;ZHU Kai;FANG Yu-qun;ZHU Qiang(Jinhua Power Supply Company of State Grid Zhejiang Electric Power Co.,Ltd.,Jinhua 321000,Zhejiang Province,China)

机构地区：[1]国网浙江省电力有限公司金华供电公司,浙江金华321000

出　　处：《信息技术》2023年第11期173-178,共6页Information Technology

摘　　要：为提升带电作业机器人远程控制效果,文中提出一种基于无线传感器的带电作业机器人远程控制方法。应用无线传感器搭建远程控制网络,构建网络感知模型,以此为基础优化部署无线传感器网络节点。应用优化部署后的无线传感器网络采集带电作业机器人的运行数据,分析带电作业机器人主从手动力学特性,添加比例系数制定主从手远程控制策略,至此实现带电作业机器人的远程控制。实验数据显示:设计方法的数据延迟、扰动延迟与执行延迟均较短,效果较好。In order to improve the remote control effect of live working robot,a remote control method of live working robot based on wireless sensor is proposed in this paper.Wireless sensors are used to build a remote control network to build a network sensing model,based on which the deployment of wireless sensor network nodes can be optimized.The optimized wireless sensor network is applied to collect the operation data of the live working robot,analyze the mechanical characteristics of the master-slave manipulator of the live working robot,add the proportion coefficient,and formulate the master-slave remote control strategy,all of which realize the remote control of the live working robot.The experiment data show that the data delay,disturbance delay and execution delay of the design method are shorter and the effect is better.

关 键 词：无线传感器 机器人 带电作业 远程控制 网络节点部署 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]