| 一种输电线路巡检机器人控制系统的设计与实现 |
| |
| 引用本文： | 王鲁单,王洪光,房立金,赵明扬.一种输电线路巡检机器人控制系统的设计与实现[J].机器人,2007,29(1):7-11. |
| |
| 作者姓名： | 王鲁单 王洪光 房立金 赵明扬 |
| |
| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049
2. 中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,110016 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| |
| 摘 要： | 介绍了一种超高压输电线路巡检机器人控制系统的设计与实现方法．根据巡检作业任务的要求，采用遥控与局部自主相结合的控制模式实现巡检机器人沿线行走及跨越障碍．设计了巡检机器人有限状态机模型，实现了机器人遥控与局部自主控制的有机结合．采用基于激光传感器定位的方法实现了巡检机器人的自主越障控制．实验结果表明，该机器人可实现沿线行走及自主跨越障碍，从而验证了控制系统设计的有效性与合理性．
|
| 关 键 词： | 巡检机器人 有限状态机 越障控制 |
| 文章编号： | 1002-0446（2007）01-0007-05 |
| 修稿时间： | 2006-02-27 |
Design and Implementation of the Control System of a Power Transmission Line Inspection Robot |
| |
| WANG Lu-dan,WANG Hong-guang,FANG Li-jin,ZHAO Ming-yang.Design and Implementation of the Control System of a Power Transmission Line Inspection Robot[J].Robot,2007,29(1):7-11. |
| |
| Authors: | WANG Lu-dan WANG Hong-guang FANG Li-jin ZHAO Ming-yang |
| |
| Affiliation: | 1. Robotics Laboratory, Shenyang institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China ; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
| |
| Abstract: | This paper presents a design and implementation method for the control system of extra high power transmission line inspection robot.According to the inspection task requirements,a control mode which combines remote-control with local autonomous control is applied for the robot to travel along the wires and navigate obstacles.A finite state machine model is developed for the robot to integrate remote-control and local autonomous control.A localization method based on laser sensors is adopted to achieve the autonomous obstacle-navigation control.Experiment results show that the robot can travel along the wires and navigate obstacles autonomously,which proves the validity and rationality of the control system design. |
| |
| Keywords: | robot for inspection finite state machine obstacle-navigation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机器人》浏览原始摘要信息 |
|
点击此处可从《机器人》下载全文 |
|
