摘要
本文基于500 KV超高压输电线路环境,设计了一种包括前后两部分,中间由一个俯仰关节连接起来,每部分都由驱动轮、夹持机构、摩擦力调整机构、手臂变距机构和开合机构组成的机械结构.结合巡检机器人的机构特点,针对越障连续性与安全性问题,介绍了一种连续越障的方法,设计了基于多传感器融合的控制方法及相应的机器人控制系统.通过地面仿真线路越障实验,实现了连续越障功能,同时确保了越障安全性并提高了巡检效率.实验表明此方法设计合理,并取得了预期的效果.
According to the EHV transmission lines environment,combined with the characteristics of inspection robot mechanism for obstacle continuity and security issues,describes a method of crossing obstacle continuously and a control method based on multi-sensor fusion with the corresponding robot control system was designed.Obstacle experiments on the simulate transmission lines achieves the continuous crossing function,ensures the safety and im-proves inspection efficiency at the same time,it proves the validity of the control method presented.
作者
周庆
肖前波
万欣
甘建峰
Zhou Qing;Xiao Qian bo;Wan Xin;Gan Jianfeng(State Grid CO.Electric Power Research Institute,Chongqing 404100,China;Shenzhen Institute of Advanced Smart Technology,Shenzhen 518055,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2015年第S01期143-147,共5页
Chinese Journal of Scientific Instrument
关键词
巡检机器人
连续越障
多传感器融合
巡检效率
inspection robot
continuously crossing obstacle
multi-sensor fusion
inspection efficiency
