架空输电线路自主巡检机器人规划设计

针对架空输电线路巡检中,杆塔、导（地）线上存在诸多障碍物（防震锤、压接管、耐张线夹、悬垂线夹等）及其相对位置和形态不固定的特点,设计了1种能够自主行进、跨越障碍物的巡检机器人。通过本体控制系统规划、传感器识别系统和补给电源设计等关键技术的应用,使巡检机器人上线自主行进过程试验取得初步成功。结果表明：自主行进过程中机器人与地面基站之间数据通信流畅,传感器探测回传图像清晰,从而验证了巡检机器人机构部件及控制系统的有效性。

Layout and design of independence patrol robot for overhead power transmission line

Aiming at the characteristic of obstacles on the pole,tower and line(such as damper,crimping pipe,suspension clamp,etc.)and their unfixed relative position and shape in patrol of over head power transmission line,designs a sort of patrol robot which can independently move and span obstacle on the pole,tower and line.By the application of key technology such as the layout of the body control system,the design of sensor identification system and supplementary power supply,the test of patrol robot on-line independence move makes success,The result shows that data traffic between body and ground control station are fluent,return images are clear,thereby verifies the validity of the patrol robot’s mechanism parts and the control system.