摘要
介绍了自行研制的110 kV高压架空输电线路巡线机器人。该机器人机械结构设计合理、巧妙;控制系统采用两级分布式计算机控制结构,规划级用于机器人管理和路径规划,直接控制级用于机器人的姿态和运动控制。实验线路上的运行表明,较好地解决了自主越障问题,可以完成规定的巡检任务,具有非常广泛的应用前景。
A self - developed mobile robot for the inspection of 110 kV high voltage overhead power transmission lines is described. The mechanical design of the robot is rational and ingenious in that a two-level distributed computer control structure is adopted to control the robot's movement. The planning level is used for the management and path planning of the robot, and the direct-control level is for the control of the movement and posture of the robot, which has been tested on an experimental line. It is shown that the robot has very good prospects for application for its solution to automatically getting across obstacles and fulfilling the task of specified inspection.
出处
《电力系统自动化》
EI
CSCD
北大核心
2004年第23期89-91,共3页
Automation of Electric Power Systems
基金
国家"十五"863计划资助项目(2002AA420110-4)
关键词
高压架空输电线
巡线机器人
自主越障
巡检
high voltage overhead power transmission line
inspection robot
across obstacles automatically
specified inspection
