500kV超高压架空输电线路巡线机器人的空间巡线方法研究

Research on 3D Line Identification for 500 kV Extra-high Voltage Overhead Power Line Inspection Robot

针对500 kV架空输电线路巡线机器人在越障过程中的线路辨识问题,提出采用激光扫面传感器实现巡线机器人在越障过程中的空间定位。阐述越障原理和越障中的巡线方法,采用一定的逻辑算法,利用激光传感器的反馈在三维空间中准确地定位线路,实现机器人在无人工干预状态下的自主越障。试验结果表明:基于激光传感器的越障巡线方法稳定可靠,实时性好,能满足实际运行中的巡线要求。

Laser scanning sensor was adopted to locate the line of the inspection robot during the obstacle climbing to solve the 3D line identification on the 500 kV overhead lines.The principle of obstacle climbing and method of line inspection during which were expatiated,and by using certain logic operation and the feedback of the laser senor,motion line in 3D space of the inspection robot were located accurately,so that obstacles could be crossed by the robot automatically without manual intervention.The experimental result indicates that the obstacle climbing line inspection method based on laser scanning sensor is reliably with good real time,so the system can meet the need of practical application.