输电线路巡检机器人越障方法的研究与实现

任志斌; 阮毅

您当前的位置：

首页 >

文章列表页 >

输电线路巡检机器人越障方法的研究与实现

更新时间：2026-09-14

- 输电线路巡检机器人越障方法的研究与实现
- 输电线路巡检机器人越障方法的研究与实现
- Issue 3, (2011)
- 作者机构：
  
  1. 江西理工大学机电工程学院
  2. 上海大学机电工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2011
- 稿件说明：
移动端阅览
任志斌, 阮毅. 输电线路巡检机器人越障方法的研究与实现[J]. 2011, (3).
DOI：

任志斌, 阮毅. 输电线路巡检机器人越障方法的研究与实现[J]. 2011, (3). DOI：

摘要

机器人在线巡检时需要跨越各种障碍物.针对220 kV架空输电线路的结构特点

采用双臂同侧伸缩式结构

实现了巡检机器人沿线行走及跨越障碍的功能;针对越障的实际问题

分析了越障过程的难点:障碍物的辨识与手臂上线定位、姿态角调节问题.根据传感器的输出

经过特定的算法

即可判断线路相对于机器人的空间位姿及能保证机器人车体保持水平姿态.实验及实际运行结果表明:该机器人可沿线行走并自主跨越障碍

从而验证了系统设计的有效性与合理性.

Abstract

Robot for inspecting the power transmission lines must crawl along the line and plan its behaviors to negotiate obstacles in various shapes.The robot

deliberately designed as both hanging-arms on the same side

was developed for inspecting the 220 kV transmission lines.The problems of obstacle localization

arm positioning

and attitude adjustment were studied.The position and direction of the robot could be calculated and the horizon of its body be kept by some specific algorithms according to sensors' outputs.The experimental results showed that the robot could travel along the wires

and navigate obstacles autonomously

and proved that the system design was valid.

关键词

Keywords

references

Views

262

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

《中北大学学报(自然科学版》》征稿简则

Configuration Design and Research of a Hybrid Quadruped Perilla Sowing Robot

Design of Parallel Robot Experimental Platform Based on Reconfigurable Innovative Components

High⁃Precision Photoeletric Coordinate Positioning Technology Based on Transformer⁃FPGA Collaborative Feature Modeling

A Shock Wave Testing System for High⁃Altitude Explosion Experiments

Related Author

No data

Related Institution

No data

⁰