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| 沿架空地线行驶的自主巡检机器人及应用 | |
| 引用本文： | 徐显金,李维峰,吴功平,何缘,刘明,徐青山.沿架空地线行驶的自主巡检机器人及应用[J].武汉大学学报(工学版),2010,43(6). |
| 作者姓名： | 徐显金 李维峰 吴功平 何缘 刘明 徐青山 |
| 作者单位： | 1. 武汉大学动力与机械学院,湖北,武汉,430072 2. 华北电力大学电气与电子工程学院,北京,102206 3. 吉林省电力有限公司白山供电公司,吉林,白山,134300 4. 吉林省电力有限公司,吉林,长春,130000 |
| 基金项目： | 国家高新技术研究发展计划(863)项目 |
| 摘 要： | 介绍了一种沿架空地线行驶的输电线路自主巡检机器人系统,包括自主巡检机器人本体、地面基站、巡检后台管理系统,以及地线无阻挡道路结构等.开发的新型防震锤线夹、组合悬垂线夹和跨越耐张杆塔头柔性过桥等结构,使得机器人可以无阻挡地通过防震锤、直线杆塔和耐张杆塔等而无需跨越障碍物.着重介绍了自主巡检机器人的如下关键技术:移动机器人机构、自主移动导航、电源及其管理系统和机器人本体的系统集成,给出了自主巡检机器人的一个典型实例.通过不同环境的运行试验,表明提出的巡检机器人系统的正确性和实用性. |
| 关 键 词： | 巡检机器人 架空地线 机构 电源 导航与控制 |
An autonomous inspection robot for transmission line along overhead ground line and its application |
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| XU Xianjin,LI Weifeng,WU Gongping,HE Yuan,LIU Ming,XU Qingshan.An autonomous inspection robot for transmission line along overhead ground line and its application[J].Engineering Journal of Wuhan University,2010,43(6). | |
| Authors: | XU Xianjin LI Weifeng WU Gongping HE Yuan LIU Ming XU Qingshan |
| Abstract: | A type of autonomous inspection robot system for transmission line along overhead ground line,including an autonomous inspection robot body,base station,admin system,ground line and no-obstacle moving path.The new type of damper clamp,assembled suspension clamp and flexible overcoming tension bridge,which are developed to enable the robot overcome the damper,suspension tower and the tension tower without encountering obstacles.The key techniques include the inspection robot's mechanism,autonomous motion navigation,power source and its management system,and robot body integration.A typical application of autonomous inspection robot is carried out to verify the practicability of the autonomous inspection robot system based on the running tests in different working conditions. |
| Keywords: | inspection robot overhead ground line mechanism power source navigation and control |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |