高压巡线机器人的设计与实现

针对110 kV输电线路具有防震锤、耐张线夹、悬垂线夹、跳线、转弯等诸多障碍,线路与障碍物的相对位姿和形态不是非常固定的特点,首先设计出了一种全新的巡线机器人的机械结构,并对该结构的各个组成部分进行了详细的说明;然后,对巡线机器人的控制系统进行了设计。本体控制系统采用两级分布式计算机控制结构,规划级用于机器人管理和路径规划,直接控制级用于机器人的姿态和运动控制。实验线路上的运行表明,机器人较好地实现了自主越障,能够完成规定的巡检任务。

Design and Implementation of Inspection Robots for High Voltage Power Transmission Lines

Since the relative positions between inspection routes and obstacles are not fixed on account of the existence of obstacles such as weights,clamps,pendencies,skip lines and swerves along 110 kV power transmission lines,a completely new mechanical configuration is designed for inspection robots,and the configuration′s different parts are fully expatiated.After that,robots′ control systems are designed.A two-level distributional computer control structure is adopted to control robots′ movement.The planning level is used for their management and path planning,and the direct control level is for the control of their movement and posture.Their operation along experimental lines shows that they satisfactorily negotiate obstacles automatically and fulfill specified inspection tasks.