基于物联网的输电线路巡检机器人控制策略研究

完整设计一种具有自主协调运动功能的小型电力输电线路的巡检机器人，为了实现机器人自主越过塔头和绝缘子串，同步感知适应不同档距的杆塔以及多个机器人在一定长度的作业范围内能够协调运动作业。本文重点研究基于自抗扰控制技术的多机协调控制策略。同时考虑到输电线路环境的复杂性，在设计机器人本体中，引入了基于物联网框架的多传感器融合算法。最后通过算法仿真和设计制作实物样机，测试本实验装置和控制策略的有效性。

Research on IoT Control Strategy of Inspection Robot for Transmission Line

A small power transmission line inspection robot with the function of autonomous coordinated motion is designed. In order to realize autonomous crossing of tower head, insulator. Perception of poles with different spacing and coordinated motion of multiple robots within a certain length of operation range, the robot can realize autonomous crossing of tower head. This paper focuses on the multi-machine coordinated control strategy based on ADRC technology. Considering the complexity of transmission line environment, a multi-sensor fusion algorithm based on Internet of Things framework is introduced in the design of robot ontology. Finally, a prototype is made through algorithm simulation and design to test the effectiveness of the experimental device and control strategy.