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| 沿输电线路地线行驶巡检机器人定位方法 | |
| 引用本文： | 李维峰,付兴伟,徐显金,吴功平,刘明,曹琪.沿输电线路地线行驶巡检机器人定位方法[J].武汉大学学报(工学版),2011,44(4):511-515. |
| 作者姓名： | 李维峰 付兴伟 徐显金 吴功平 刘明 曹琪 |
| 作者单位： | 1. 华北电力大学电气与电子工程学院,北京,102206 2. 武汉大学动力与机械学院,湖北武汉,430072 3. 吉林省电力公司白山供电公司,吉林白山,134300 |
| 基金项目： | 国家863计划资助项目(编号:2006AA04Z202) |
| 摘 要： | 针对作者所在团队研制的沿输电线路地线行驶的巡检机器人,分别提出了基于倾角传感器、GPS和线路先验信息模型GIS的全局环境定位方法和基于行走轮编码器及其打滑识别、机器视觉、超声波测距传感器和霍尔接近传感器的局部环境定位方法,给出了机器人定位的相关模型或算法.经现场线路试验研究表明,该方法行之有效. |
| 关 键 词： | 巡检机器人 地线 全局环境定位 局部环境定位 |
Positioning inspection robot along ground wire of high-voltage transmission lines |
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| LI Weifeng,FU Xingwei,XU Xianjin,WU Gongping,LIU Ming,CAO Qi.Positioning inspection robot along ground wire of high-voltage transmission lines[J].Engineering Journal of Wuhan University,2011,44(4):511-515. | |
| Authors: | LI Weifeng FU Xingwei XU Xianjin WU Gongping LIU Ming CAO Qi |
| Affiliation: | LI Weifeng1,FU Xingwei2,XU Xianjin2,WU Gongping2,LIU Ming3,CAO Qi3(1.School of Electrical & Electronic Engineering,North China Electric Power University,Beijing 102206,China,2.School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,3.Baishan Power Supply Company,Jilin Electric Power Co.,Ltd.,Baishan 134300,China) |
| Abstract: | On the basis of inspection robot along ground wire of high-voltage transmission lines which was researched by the team the authors belonged to,respectively proposed global environment positioning which based on tilt sensors,GPS and GIS-line prior information model,and partial environment positioning on the basis of the encoders and skid recognition of wheels,machine vision,ultrasonic distance sensors and Hall proximity sensors.The relevant model or algorithm are presented for the robot positioning.The field... |
| Keywords: | inspection robot ground wire global environment positioning partial environment positioning |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |