输电线路巡线机器人避障控制系统设计

Design of obstacle avoidance control system for transmission line patrol robot

为在输电巡检过程中实现对机器人结构体的定向化控制,从而获取大量可直接应用的避障信息,文中设计了输电线路巡线机器人避障控制系统。利用输电回路为巡线机器人提供避障过程所需的应用电子,再借助多条电量传输线路实现巡线控制器与伺服跟踪驱动器间的主动连接,完成对避障控制系统硬件环境的搭建。在此基础上,通过电开关抓线处理的方式连接电量存储所需的执行数据库,并以此为条件,融合与机器人避障行为相关的物理信息,完成对避障控制系统软件程序的设计。实验结果表明,与传统的控制系统相比,应用文中系统后,巡线机器人所承担的线路输电能力明显提升,控制电流的平均传输流量也持续增大,说明该系统可从根本上解决输电线路巡线机器人定向化控制问题。

In order to realize directional control of robot structure during transmission line inspection and obtain a lot of obstacle avoidance information that can be applied directly,this paper designs a robot obstacle avoidance control system for transmission line inspection.The transmission loop is used to provide the application electronics needed in the process of obstacle avoidance for the patrol robot,and the active connection between the patrol controller and the servo tracking driver is realized with the help of multiple electric power transmission lines,so as to complete the construction of the hardware environment of the obstacle avoidance control system.On this basis,the execution database required for power storage is connected by the way of electric switch grasping processing,and on this basis,the physical information related to the robot’s obstacle-avoidance behavior is fused to complete the design of the software program of the obstacle-avoidance control system.The experimental results show that,compared with the traditional control system,the transmission capacity of the line patrol robot is significantly improved after the application of this system,and the average transmission flow of the control current also keeps increasing,indicating that this system can fundamentally solve the directional control problem of the transmission line patrol robot.