摘要
研制一类具有越障功能的电力铁塔攀爬机器人。该攀爬机器人在机械主体方面,创新性地利用电力铁塔检修人员作业时使用的攀爬脚钉,采用电磁吸附与机械挂取相结合的方式,使其具备对复杂环境电力铁塔的攀爬越障能力,并且在到达作业地点后能对指定横材悬挂安全钩;在控制系统方面,采用机器视觉对脚钉进行识别挂取,结合多种传感器的模糊分类方法对铁塔障碍进行鉴别分类,完成对机器人伺服运动控制。
A class of electric power tower climbing robots is developed with obstacle-proof functions in this paper.In terms of the mechanical body,the climbing nails used by the maintenance personnel of the power tower in operation is innovatively used in the climbing robot,and the method of combining electromagnetic adsorption and mechanical hanging is adopted to make it capable for climbing over obstacles of the power tower in complex environment.After the arrival of the work site,the safety hook can be hung on the specified horizontal material.In terms of the control system,the robot servo motion control is completed by using machine vision to identify and hang the nails,and the fuzzy classification method of various sensors is used to identify and classify the obstacles of the tower in order to complete the robot servo motion control.
作者
庄红军
李军
王威
周海
吴瑀
候永洪
莫刚
鲁彩江
ZHUANG Hongjun;LI Jun;WNAG Wei;ZHOU Hai;WU Yu;HOU Yonghong;MO Gang;LU Caijiang(Bijie power supply bureau,Guizhou power grid co.,LTD.,Bijie Guizhou 330006,China;Department of mechanical and electrical measurement and control,School of mechanical engineering,Southwest Jiaotong University,Chengdu 610031,China;Guizhou power grid co.,LTD.,Guiyang,550002,China)
出处
《自动化与仪器仪表》
2020年第4期199-204,共6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.A0920502051822-2)
中国南方电网有限责任公司科技项目(No.GZKJXM20171600)
关键词
电力铁塔攀爬机器人
自主越障
机器视觉
模糊分类
electric tower climbing robot
autonomous obstacle crossing
machine vision
fuzzy classification
