摘要
机器人在线巡检时需要跨越各种障碍物.针对220 kV架空输电线路的结构特点,采用双臂同侧伸缩式结构,实现了巡检机器人沿线行走及跨越障碍的功能;针对越障的实际问题,分析了越障过程的难点:障碍物的辨识与手臂上线定位、姿态角调节问题.根据传感器的输出,经过特定的算法,即可判断线路相对于机器人的空间位姿及能保证机器人车体保持水平姿态.实验及实际运行结果表明:该机器人可沿线行走并自主跨越障碍,从而验证了系统设计的有效性与合理性.
Robot for inspecting the power transmission lines must crawl along the line and plan its behaviors to negotiate obstacles in various shapes. The robot, deliberately designed as both hanging arms on the same side, was developed for inspecting the 220 kV transmission lines. The problems of obstacle localization, arm positioning, and attitude adjustment were studied. The position and direction of the robot could be calculated and the horizon of its body be kept by some specific algorithms according to sensors＇ outputs. The experimental results showed that the robot could travel along the wires, and navigate obstacles autonomously, and proved that the system design was valid.
出处
《中北大学学报（自然科学版）》
CAS
北大核心
2011年第3期280-285,共6页
Journal of North University of China(Natural Science Edition)
基金
江西省2008年科技立项资助项目(GJJ09244)
关键词
巡检机器人
自主越障
定位
质心调节
inspection robot
autonomous negotiation
reconstruction
centroid adjustment
