跨越式巡检机器人的自主越障方法研究

The Research of Autonomous Obstacle Crossing of Striding Inspection Robot

分析了跨越式巡线机器人跨越通过悬垂线夹等障碍物的动作序列,指出限制其自主性的关键动作。在该动作过程中提出了一种越障简化模型,并利用该模型计算出越障过程中障碍物与机械臂之间的实时距离。然后制定出始终保持安全距离的自主跨越越障控制方案,并且分析在控制过程中机械臂上脆弱部件的受力,将其作为不同控制参数选取下的评判依据。最后选择不同的控制参数,分别在模拟高压输电线路上进行实验,并且对比分析其受力和消耗时间。

Analyse the stride-type inspection robot’s whole Action sequence of passing obstacles like double-clamp. And point out the key action that limits the robot’s autonomy. And propose a simplified model in this key action. By using this model to calculate distance between obstacle and robot’s arm, we make a control plan to let the arm move smoothly without committing a collision. In this control plan, we use the force of the fragile part and the consumption of time, to judge whether the control parameter has been chosen well. Finally we carry out a series of experiment in the simulated high voltage transmission line, that use different control parameter. and make a comparision of time consumtion and force.