基于光流匀速远程操控树障清理机器人的设计与研究

Design and Research of a Remote Manipulating Robot for Clearing Tree Obstacles Based on Uniform Optical Flow

基于光流匀速远程操控的树障清理机器人功能应用范围是输电走廊树障清理,清理对象为生长接近高压输电线路导线的树尖。机器人具备自主行走与树障清理两大功能,自主行走技术核心在于轮毂电机在不同树径下的匀速驱动,其驱动部分由动力电源系统、四组轮毂电机、光流传感器、采集驱动通信单元四部分组成。采集通信驱动单元在驱动轮毂电机的同时,可实时地对轮毂电机的力矩、速度进行采集。该电路能够很好地满足无刷轮毂电机的正反转及连续调速控制,同时对电机运行电流进行跟踪测量,对电机异常运行进行保护。运行表明,该控制电路功耗低,驱动能力强,使用灵活。

The function and application scope of the tree obstacle cleaning robot based on the uniform speed remote control of optical flow is the tree obstacle cleaning in the transmission corridor,and the cleaning object is the tree tip growing close to the high-voltage transmission line conductor.The robot has two major functions:autonomous walking and tree obstacle clearing.The core of autonomous walking technology is the constant speed drive of hub motor under different tree diameters.The drive part consists of power supply system,four groups of hub motors,optical flow sensors,and acquisition,drive,and communication units.The main control unit is composed of four parts.The acquisition communication drive unit can collect the ground torque and speed of the hub motor in real time while driving the hub motor.The circuit can well meet the forward and reverse rotation and continuous speed regulation control of brushless hub motor,track and measure the motor running current,and protect the motor from abnormal operation.The operation shows that the control circuit has low power consumption,strong driving ability and flexible use.