摘要
巡检机器人沿线行走时必须探测各种障碍,并根据障碍类型规划越障行为。针对220KV架空输电线路的结构特点,设计了基于多传感器伺服控制方案,包括光电传感器模块、接近传感器模块和水平传感器模块。论文阐述了系统的结构和工作原理,通过合理布局的传感器测头及检测传感器的输出,经过特定的逻辑算法,即可完成高压巡检机器人驱动轮与导线"对中"实现空间定位,完成巡线机器人自主越障。运行实验表明:传感器工作可靠,导航方法简单可行,识别精度高,满足实际运行要求。
Power transmission line routing inspection robot must plan its behaviors to detected obstacles according to their types when it is crawling along the power transmission line. For this purpose, based on the structure of a 220 kV transmissionline, a servo control scheme is designed to guide the inspection robot to negotiate obstaclcs based on muhi-sensor which is integrated with a photoelectric sensor unit, a proximity sensor unit and level sensor unitt. This paper analyses structure and operation method. By some specific arithmetic based on the output of the sensor arraying suitably, it is achieved that the alignment operation and space orientation between the driving wheel and the line and to across obstacles automatically. Experiment indicates that the sensors can work reliably, the method of navigation is feasible, its precision is high, and the system can satisfy the requirements of practical use.
出处
《电气自动化》
2009年第1期9-12,共4页
Electrical Automation
基金
江西省教育厅2009年科技项目资助
项目批准号:GJJ09244
关键词
巡检机器人
光电传感器
空间定位
自主越障
inspection robot photoelectric sensor space orientation across obstacles automatically
