基于PLC的输电线路巡检机器人越障自动化控制研究  

PLC-based Obstacle Crossing Automated Control of Transmission Line Inspection Robot

作　　者：何琛 王昭华 HE Chen;WANG Zhaohua(Xi′an Aerospace Chemical Power Co.,Ltd.,Xi′an 710025,China)

机构地区：[1]西安航天化学动力有限公司,陕西西安710025

出　　处：《电工技术》2024年第20期14-16,共3页Electric Engineering

摘　　要：针对传统方法在输电线路巡检机器人越障自动化控制中应用存在质心高度较高、稳定性系数较低的问题,提出基于PLC的输电线路巡检机器人越障自动化控制研究。结合超声波传感器和摄像头采集的机器人路况信息,识别障碍,通过建立巡检机器人越障动力学模型,描述机器人运动状态,利用PLC对机器人越障姿态进行控制,实现基于PLC的输电线路巡检机器人越障自动化控制。实验结果表明,设计方法应用下机器人质心高度不超过5 mm,稳定性系数在0.85以上,可以实现对巡检机器人越障精准控制。Due to the problems of high centroid height and low stability coefficient in the application of conventional methods in the obstacle crossing automated control of transmission line inspection robots,the obstacle crossing automation control of transmission line inspection robot based on PLC was studied.By combining the road condition information collected by ultrasonic sensors and cameras,obstacles were identified.By establishing a dynamic model for the obstacle crossing of the inspection robot,the robot′s motion state was described.Using PLC to control the robot′s obstacle crossing posture,PLC based automatic control of the transmission line inspection robot obstacle crossing was achieved.The experimental results showed that under the application of the design method,the center of mass height of the robot was less than 5 mm,and the stability coefficient was above 0.85,which could achieve precise control of the inspection robot crossing obstacles.

关 键 词：PLC 输电线路巡检机器人 越障 自动化控制 动力学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]