摘要
为解决目前高压线巡检机器人对于高压线环境适应能力低、越障能力不足等问题,利用仿生原理设计了模块化巡检机器人。提出了由轮指移动机构和越障机构组成的轮指移动模块。通过多个模块的组合可以形成具有开闭结构与移动能力的高压线巡检机器人。机器人的控制系统采用Arduino作为主控器,通过光电传感器感知障碍物位置,并通过陀螺仪获取的角度信息调整机器人位姿。详细描述了机器人移动及越障的工作原理和实现形式;并分析了巡检机器人在水平面内和垂直面内越障及环境适应性。在研制的原理样机上进行水平面和垂直面内的绝缘子串越障及线缆曲率适应性实验,实验结果验证了采用轮指机构的高压线巡检机器人具有较好的越障能力和环境适应能力,表明该机器人具有很强的应用前景。
To overcome the shortcomings of high-tension line inspection robot including low environmental adaptability and inadequate obstacle negotiation ability, a modular inspection robot is designed based on the bionics principle. A finger-wheeled locomotion module composed of the finger-wheeled mechanism and the obstacle negotiation mechanism is presented. Through combination of multiple modules, a high-tension line inspection robot with retractable structure and locomotion ability is developed. Arduino is adopted as the main controller of the robot control system. The robot perceives the position of the obstacle via the photoelectrics ensor and the position and posture of the robot are adjusted according to the angle information obtained from the gyroscope. Additionally, the locomotion principle and realization form of this type of robot are studied in detail. Furthermore, the obstacle negotiation ability and environmental adaptability of the inspection robot in the horizontal and vertical plane are analyzed as well. Two experiments including obstacle negotiation experiment in the horizontal and vertical plane for the insulator string and cable curvature adaptability experiment are implemented on the prototype. The experiment results show that the high-tension line inspection robot with finger-wheeled mechanisms has good obstacle negotiation ability and environmental adaptability, which indicates that the robot has avery brilliant application prospect.
作者
叶长龙
闫法兵
姜春英
于苏洋
YE Changlong;YAN Fabing;JIANG Chunying;YU Suyang(College of Mechanics and Electrical Engineering, Shenyang Aerospace University, Shenyang 110136,China)
出处
《沈阳航空航天大学学报》
2018年第2期28-34,40,共8页
Journal of Shenyang Aerospace University
基金
辽宁省科学技术计划项目(项目编号:2012220032)
关键词
巡检机器人
高压线
越障
轮指机构
inspection robot
high-tension line
obstacle negotiation
finger-wheeled mechanism
