基于多传感器信息融合的输电线路巡检机器人自主越障方法研究

Research on Autonomous Obstacle-crossing Method of Power Transmission Line Inspection Robot Based on Multi-sensor Information Fusion

针对550 kV架空输电线路巡检机器人在运行过程中对线上金具识别不稳定及自主越障效率低等问题,基于多传感器信息融合的方法,结合机器人在线越障过程的特点,提出了一种基于多传感器信息融合自主越障方法与策略,并进行了在线自主越障实验。结果表明:以巡线机器人为平台,基于多传感器信息融合的机器人自主越障策略是可行的,提高了机器人越障运动的准确性和灵活性,保证机器人安全可靠的运行。

Aimed at the problems of inspection robot for 550 kV overhead power transmission lines in the process of operation,such as unstable identification of the fittings and low efficiency of autonomous obstacle-crossing,a method and strategy for autonomous obstacle-crossing based on multi-sensor information fusion was proposed and tested based on the method of multi-sensor information fusion and combined with the characteristics of robot online obstacle-crossing process.The results show that the strategy of robot autonomous obstacle-crossing based on multi-sensor information fusion by using the line patrol robot as the platform is feasible.The strategy improves the accuracy and flexibility of robot obstacle-crossing movement and ensures the safe and reliable operation of the robot.