摘要
为了解决架空裸露导线存在的安全隐患,提出了一种用于架空裸露导线的配电线路自动绝缘包裹机器人。该机器人将机构紧凑地配合在一起,在多传感器的辅助下,能够完成在裸露导线上自主行走、包裹;采用CAN总线架构进行电机管理,PID控制算法实现各个电机的精确配合;IMU的引用实现了机器人在不同运行环境下更高效稳定的运行;机器视觉的应用实现包裹结果的实时传输与自主判断。试验表明,包裹机器人运行效果理想,具有广阔的应用前景。
In order to solve the safety hidden danger of overhead bare wire,a kind of automatic insulating wrapping robot for distribution line is proposed.The robot is able to walk and wrap itself on the bare wire with the help of multiple sensors.CAN bus architecture is used for motor management,and PID control algorithm is used to achieve the precise coordination of each motor;The reference of IMU enables the robot to run more efficiently and stably under different operating environments.The application of machine vision can realize real-time transmission and independent judgment of package results.The experiment shows that the operation of the robot is ideal and has a broad application prospect.
作者
鲁彩江
施景皓
夏文超
余飞虎
王雨
樊磊
毛先胤
LU Caijiang;SHI Jinghao;XIA Wenchao;YU Feihu;WANG Yu;FAN Lei;MAO Xianyin(College of mechanical engineering,Southwest Jiaotong University,Chengdu 610081,China;Power science research institute of guizhou power grid co.,LTD.,Guiyang 550002,China)
出处
《自动化与仪器仪表》
2020年第1期1-5,共5页
Automation & Instrumentation
基金
国家自然科学基金(No.61801402)
中央高校基本科研专项资金(No.2018GF02)
中国南方电网有限责任公司科技项目(No.GZKJXM20171600)
关键词
绝缘包裹机器人
架空配电线路
绝缘皮
裸露导线
视觉检查
Insulated wrapping robot
Overhead distribution lines
Insulation skin
Exposed conductor
Visual inspection
