电力杆塔巡检系统设计及GNSS自主穿越越障路径测绘

Design of Power Tower Inspection System and GNSS Autonomous Obstacle Crossing Path Mapping

以电力杆塔线路巡检机器人为研究对象,通过改进机器人行驶的无阻挡地线路径、研制自动上下线装置等改进了机器人系统方案。在此基础上,重点研究了巡检机器人自主越障控制。首先,线路结构信息、杆塔GNSS坐标与三维激光扫描数据与GIS先验信息相结合,完成全局环境与局部环境的识别与定位,获取巡检机器人的精准定位;其次,利用超声波传感器阵列获取障碍物集,主要是耐张杆塔障碍物集、悬垂线夹障碍物集;最后,选定自主越障控制策略,给定自主越障控制方案。试验结果表明小倾角角度或者是大倾角角度下自主穿越越障方案所需巡检时间均短于自主跨越越障方案,巡检速度更快,越障巡检效率更高。

Taking the power tower line inspection robot as the research object,the robot system scheme was improved by improving the non-barrier ground wire path of the robot's travel,and developing automatic online and offline devices.On this basis,the autonomous obstacle crossing control of inspection robot was studied.First,the line structure information,tower GNSS coordinates,3D laser scanning data were combined with GIS prior information to complete the identification and positioning of the global environment and local environment,and obtain the accurate positioning of the patrol robot;Secondly,using an ultrasonic sensor array to obtain a set of obstacles,mainly the set of obstacles for tension towers and suspension clamps;Finally,selecting an autonomous obstacle crossing control strategy and providing an autonomous obstacle crossing control scheme.The experimental results show that the autonomous obstacle crossing scheme requires shorter inspection time,faster inspection speed,and higher obstacle crossing inspection efficiency at small or large inclination angles.