具有爬杆功能的输电线路状态监测机器人研究与设计

The Designof a Pole-climbing Robot with the Function of Transmission Line Monitoring

目前输电线路的监测任务主要由人攀爬输电杆柱完成,这种监测工作劳动强度大,工作效率低,并缺乏准确的检测手段。为此对一种爬杆机器人进行了研究和设计,借以代替人攀爬杆柱完成对输电线路导线和绝缘子的监测任务。通过分析爬杆机器人的运动状态,完成了机器人的运动学分析和控制。同时采用模糊控制方法对爬行状态中的机器人进行轨迹纠偏,确保机器人可以按照预定轨迹完成爬行任务。最终由机器人携带的云台完成对输电线路的监测任务,并通过图像处理方法完成对输电线路导线及绝缘子监测工作。实验结果表明,该机器人可在杆柱上平稳运行并完成相关监测工作,具有较大的推广应用价值。

Currently inspection task of transmission line is done mainly by people.The intensity of this work is quite high but efficiency is low.In addition,this work also lack accurate inspection methods.Therefore,we design and create a kind of pole-climbing robot which can replace people to inspect wires and insulators of transmission line.In this work,we have finished kinematics analysis and motor selection of the robot by analysing the motion of this pole-climbing robot.Meanwhile,through using fuzzy control method,the track of this robot which is in the crawl status has been corrected.It ensures the robot can follow designed tracks to finish crawling tasks.Finally,through using the cloud terrace which is carried by the robot,we finished monitoring task of transmission line.We further finished diagnosis work of wires and insulators of transmission line by processing images.The results indicate that this robot can move smoothly on a pole and finish relatively monitoring tasks,showing a high popularization value.