架空高压输电线路巡线机器人样机研制

介绍了所研制的220 kV架空高压输电线路巡线机器人。该机器人的特点是：用最少的自由度和小巧紧凑的机械结构以及多传感器与机器视觉混合伺服方法，实现了机器人在一根相线全程线路上的自主行驶运动（滚动、爬行和跨越/避让障碍物）；用电流互感器技术实现了机器人电能消耗的在线自动补给；用可见光摄像机和红外热成像仪实现了线路的巡视与机械电器故障的检测诊断；巡检线路及其信息实现了计算机管理。该机器人已通过了现场带电线路上的运行试验，具有广阔的应用前景。

Development of a Mobile Inspection Robot for High Voltage Power Transmission Line

An inspection robot for 220 kV high-voltage transmission line is presented. Its characteristics are as follow. Firstly, it achieves the automatic motion on a live line (rolling, crawling and spanning obstacles) with the minimal freedom degrees, smart mechanical structure and the mixed reaction with multi-transducers and machine vision. Secondly, it can automatically supply the electrical energy for itself through current transformer technique. Last, it can detect and diagnose the malfunction of the lines with visible light and infrared imaging instruments, and has the function of management for the inspecting data and diagram information. The robot has passed the test on a field live line and demonstrates its broad application prospect.