关于高压线路巡线机器人的研究设计

高压线路巡线机器人是机器人研究领域的重要研究课题之一,是一种具有广阔应用前景的特种机器人。本文针对110k V输电线路具有防震锤、悬挂线夹、金具、跳线、绝缘子、转弯等诸多障碍,线路与障碍物位置和形态不是特别固定的特点,设计了一款巡线机器人。该巡线机器人可以取代人工到高压线上去进行线路检查,工作人员在地面上就可以通过巡线机器人上摄像头对线路进行线路巡查,检查到隐患部位的时候再通过人工精准的对线路进行检查维修。这样不仅减轻了巡线作业的强度、降低费用,而且还使安全事故发生的概率降到了最低保证了工作人员的安全。     

一种基于CPLD的巡线机器人手臂定位控制系统设计

在讨论电力线巡线常用的设备和方法基础上，分析了巡线机器人的结构、检测系统及运动行为规划。根据控制对象的时序要求，抽象出控制系统的行为描述，设计了具有状态及保护、定位功能的有限状态机，最后由可编程逻辑器件加以实现。首次将有限状态机应用在巡线机器人控制系统上，改进了软件设计为主的设计方法。实验室110kV模拟线路上的实验结果表明：该系统很好地实现了机器人运动关节的控制及系统的定位保护功能，响应速度快，可靠性高。     

架空输电线路巡线作业机器人的研制

回顾国内外架空输电线路巡线作业机器人的研究现状,提出一种巡线作业机器人的机械结构设计和控制系统,详细阐述了巡线作业机器人的行车移动机构、越障运动机构、线路检测设备与方法、系统控制等关键技术,最后对电力输电线路巡线机器人的发展趋势和应用前景作了展望。     

质心调节式巡线机器人机械本体的结构设计

依据高压输电线路特点及巡检要求,设计了一种质心可调节的巡线机器人机械本体的结构,满足在线行走和跨越简单障碍的性能,具有一定的爬坡能力。运用CAD和UG软件对巡线机器人进行二维图纸绘制和三维建模工作,经过反复的结构优化,最终完成了巡线机器人的机械本体结构的设计。     

巡线机器人机械本体结构设计与基于SolidWorks的虚拟仿真

通过研究国内外架空电力线路巡线机器人的研究现状,分析了巡线机器人的本体结构特点及存在的问题,探讨了巡线机器人机构、跨越障碍等关键技术.在设计出巡线机器人整体方案的前提之下,在SolidWorks平台上进行了零件图、子装配图、总装图的仿真设计与装配.     

高压输电线路自动巡线机器人机构设计及在约束条件下的逆运动学分析

设计了一种全新的输电线路自动巡线机器人的机械结构,介绍了该结构的各个组成部分。通过对巡线机器人系统的力学分析,得到了机器人运动的约束条件,在此约束条件下,采用一种可用于实时控制的循环坐标下降法(cyclic-coordinatedescent,CCD)对机器人的逆运动学进行了分析。仿真实验表明,这种迭代算法对于有运动约束系统的逆运动学分析具有较强的适用性,而且具有非常好的收敛性,特别适合于在线计算,便于巡线机器人的实时运动控制,同时验证了机构设计的可行性。     

一种巡线机器人的机械结构设计及运动学分析

高压输电线路沿线地理环境复杂、线路长,经常穿越山河湖泊与密林,使得巡检难度大,耗费成本高.因此,针对110kV高压输电线路,设计了一种轻量化双臂巡线机器人,通过减少机器人整体自由度,减轻机器人自重,降低控制难度,从而使其更加稳定与节能.同时提出一种自主越障方式,能够跨越110kV输电线路上防振锤、跳线等障碍物.通过运用标准D-H法建立了巡线机器人的运动学模型,并在Robotic工具箱中对巡线机器人的越障过程进行建模仿真.通过仿真得到了越障过程中机器人越障臂各关节的运动参数曲线,验证了该巡线机器人连杆参数及越障步态设计的合理性.     

煤矿井下悬挂式巡线机器人自动控制系统的分析

针对现有的悬挂式巡线机器人在工作中存在的易绞绳、信息传递稳定性差等难题,结合无线传输理论,提出了一种新的悬挂式巡线机器人自动控制系统,并对该控制系统的结构原理等进行分析。通过试验验证表明,该机器人自动巡查控制系统能够实现对井下巡查的机器人的自动控制、数据记录和判定,将监测数据实时传输到地面监控中心,可有效提高煤矿井下的监测准确性。     

基于单目机器视觉的高压输电线路障碍物定位研究

高压输电线巡线机器人运行线路上的障碍物识别定位,是实现巡线机器人自主导航的关键技术之一。针对110k V高压输电线路地线结构的特点,提出了基于单目机器视觉的高压输电线路障碍物定位研究方法。通过在巡检机器人本体上安装单目摄像机,利用单目摄像机采集前方线路图像,对图像中的障碍物进行识别,利用识别出来的障碍物位置中心与摄像机的位置关系建立测距几何模型,来对巡线机器人前方障碍物进行定位。该方法可以较精确地对巡线机器人前方约(1-2)m内的障碍物进行定位并测距,且误差小、识别率高、响应快。最后,通过实验验证该方法有较高的可行性和有效性,能够极大提高巡线机器人自主导航能力。     

自主移动机器人巡线控制系统设计与实现

针对自主移动机器人传统巡线控制中存在的不足,主要完成了机器人控制系统的设计。在使用灰度传感器采集地面轨迹信息的同时,引入角度传感器对行进方向的角度信息进行采集;设计了PID控制加模糊控制的复合控制器,并给出复合控制器算法。在此基础上建立实验系统,仿真结果证明:该控制系统不仅克服了传统巡线控制中单一传感器采集信息不全的缺点,而且有效解决了机器人在遇到大信号时传统PID控制响应时间长、系统不稳定的问题。     

基于四边形的移动机器人全局路径规划方法

提出用四边形轮廓代替障碍物真实轮廓,首先进行粗略路径规划,得到一条由直线组成的最优路径,然后沿边连接得到真实路径。在起始点或目标点在四边形内部的情况下,采用短边优先来脱困。该方法具有图像预处理方便,规划出的路径精细且路径规划所用的时间少。     

基于Cosmos的变形虫运动过程中受力的动态仿真

仿阿米巴变形虫机器人由于能进入名义尺寸比自身更小的空间并运动,于是能完成人类或其他机器人不能胜任的一些工作,如监视、检查、修理、清洁和探测等。在利用SolidWorks建立了参数化变形虫三维实体模型的基础上,使用Cosmos软件对变形虫运动过程以及运动中受力情况进行了仿真分析,研究了变形虫在控制单元的作用下,通过IPMC(离子交换膜金属复合材料)的变形,从而得出变形虫实体的变化规律。     

基于遗传进化算法的机器人全局路径规划

研究了机器人在已知环境下用遗传进化算法进行最优路径搜索的方法。在此方法中，把二维编码简化为一维编码，提高了搜索的速度；把障碍物作为排斥子，提出了简单、确定的适应度函数；最后提出了对路径的转折节点处进行平滑处理的方法。仿真实验证明了该方法能够得到机器人行进的最优化路径。     

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing inspection robots are usually involved in issues: Robots with manipulators need complicated installation due to their fixed base; tube mobile robots suffer from low running efficiency because of their structural restricts. Since there are thousands of tubes to be checked, task planning is essential to guarantee the precise, orderly, and efficient inspection process. Most in-service robots check the task tubes using row-by-row and column-by-column planning. This leads to unnecessary inspections, resulting in a long shutdown and affecting the regular operation of a nuclear power plant. Therefore, this paper introduces the structure and control system of a dexterous robot and proposes a task planning method. This method proceeds into three steps: task allocation, base position search, and sequence planning. To allocate the task regions, this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region. And then all tasks contained in the sub-region are considered globally to search the base positions. Lastly, we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path. We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet. The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.     

输电线路巡检机器人越障控制研究

介绍了超高压输电线路巡检机器人越障控制方法。根据巡检作业任务的要求，采用遥控与局部自主控制相结合的方法,实现了巡检机器人沿线行走及跨越障碍的功能。采用基于单目摄像头定位和视觉伺服的方法，实现了巡检机器人的自主越障控制。实验结果表明，该机器人可沿线行走并自主跨越障碍，从而验证了控制系统设计的有效性与合理性。     

NOVEL APPROACH FOR ROBOT PATH PLANNING BASED ON NUMERICAL ARTIFICIAL POTENTIAL FIELD AND GENETIC ALGORITHM

A novel approach for collision-free path planning of a multiple degree-of-freedom (DOF) articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point (VNP), a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise from initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.     

Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors

The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algorithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and the positioning time for the ablation needle is in 10 s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors, which provides a new idea for the structural design of medical robots.     

An improved force-based impedance control method for the HDU of legged robots

Hydraulic drive mode enables legged robots to have excellent characteristics, such as greater power-to-weight ratios, higher load capacities, and faster response speeds than other robots. Nowadays, highly integrated valve-controlled cylinder, called hydraulic drive unit (HDU), is employed to drive the joints of these robots. However, various robot control issues exist. For example, during the walking process of legged robots, different obstacles are encountered, making it difficult to control such robots because the load characteristics of the ends of their feet change with the environment. Furthermore, although the adoption of HDU has resulted in high-performance robot control, the hydraulic systems of these robots still have problems, such as strong nonlinearity, and time-varying parameters. Consequently, robot control is very difficult and complex. This paper proposes an improved second-order dynamic compliance control system, impedance control, for HDU. The control system is designed to rectify the issues affecting the impedance control accuracy of the dynamic compliance serial–parallel composition between the HDU force control inner loop and the impedance control outer loop. Specifically, it consists of a compliance-enhanced controller and a feedforward compensation controller for the force control inner loop. Furthermore, the dynamic compliance composition of the inner and outer HDU control loops is rearranged. The results of experiments conducted indicate that the proposed method significantly improves the control accuracy compared to that of traditional force-based impedance control.     

受路网和测量约束的变电站巡检机器人路径规划

采用机器人对变电站高压线路测温可以大大提高日常巡检任务的智能化水平,但是巡检过程中存在路网限制和频繁启停能量消耗大等问题,须考虑最优路径与最佳测温停靠地点的相互制约性。为了解决上述问题,基于图论对变电站环境进行建模,通过分析巡检机器人在路网中对目标点测温时相机的位姿约束,建立了以时间消耗最小为目标的路径规划模型。提出了一种基于改进蚁群算法的路径优化方法和基于贪婪思想聚类的巡检停靠点选取方法,通过蚁群算法迭代获得机器人的最优巡检路径、巡检停靠点序列以及各停靠点对应的测温点集。最后,采用仿真案例验证了算法的可行性和鲁棒性,基于巡检机器人的实验结果表明该路径规划模型可用于变电站巡检。     

高压输电线路自动巡检机器人的研制与开发

本文介绍了一种沿高压电力线行走并自动跨越障碍的巡检机器人，对其机械结构和越障过程做了阐述，并介绍了其控制系统的设计。该机器人结构简单可靠，能够实现自动检测和跨越障碍等功能，可部分代替人工巡线，具有较为广阔的应用前景。