110kV输电线路巡线机器人控制方法及实现

首先对巡线机器人的控制系统进行了简单介绍，然后重点阐述了一种新型的基于分布式专家系统的高压架空输电线路自动巡线机器人的控制方法和实时实现. 提出了一种基于规则和证据的可信度的分布式专家系统的协调算法. 采用CLIPS，C和VC++等计算机语言实现了该控制方法. 在线运行实验表明，该控制方法不仅可以控制机器人自主跨越输电线路上的各种典型障碍，而且对于特别复杂的环境，如跨越转弯跳线时，通过两个专家系统的协作，机器人的巡线工作也能顺利进行.

Control method and implementation of an inspection robot for 110kV power transmission lines

First,the control system of the 110 kV power transmission line inspection robot was introduced.Then a new control method and its real-time implementation for the robot were presented based on expert system.An algorithm was proposed to coordinate the operations between distributed expert systems, in which the principle of the goodness to fit to the rules and facts is employed for the decision making and reasoning mechanism.To implement the control method,a combination of computer languages including C,VC and CLIPS was adopted,which provide a convenient and effective software platform.On-line experimental results show that the control method can guide the inspection robot to patrol along the transmission lines and efficiently cross various typical obstacles.At the locations of corners and bends of the transmission line,more complicated obstacles occur,so two sub-expert systems work together and guide the robot smoothly through the locations.