输电线巡检机器人越障机理与试验

Experiments and Mechanism of Obstacle Negotiation of an Inspection Robot for Transmission Lines

分析超高压输电线路架空地线上的障碍物类型以及跨越这些障碍的过程。可以发现,巡检机器人采用双臂交替跨越障碍,越障过程简单。但是由于受巡检机器人自身重力偏矩的影响和手臂长度尺寸的限制,当单臂悬架在架空地线上时,导致巡检机器人本体倾斜,另一手臂完成脱线和上线任务变得十分困难,有时甚至造成越障失败。为了解决上述问题,提出质量调节的控制方法。该方法通过调节巡检机器人的质心,使巡检机器人的本体保持水平状态。为了验证质量调节控制方法的正确性,采用Lagrange方法建立巡检机器人动力学模型,通过仿真试验、实验室模拟实际架空地线试验以及超高压实际现场试验说明了提出方法的可行性。

The obstacle types on overhead ground wires （OGWs） are analyzed and the process of obstacle negotiation is described. When the inspection robot （IR） negotiates obstacles on OGWs by alternating with two arms, process of obstacle negotiation is simple. When one arm is hung on OGWs, the body of IR will tilt because of the influence of gravity deflection torque and the restriction of the arms length of IR. It is very difficult for another arm to accomplish the task which is off or on fi＇om OGWs. Under certain circumstances, obstacle negotiation may be unsuccessful. In order to solve the said problems, a mass adjustment method, which can kccp the body of IR in horizontal state, is proposed. To validate the correctness of the proposed method, a dynamic model of inspection robot is established by using Lagrange equation. The results of simulation, experiments on simulative OGWs in lab, and tests on OGWs in actual ultra-high voltage environment demonstratc that the method is feasible.