架空输电线路巡检机器人风载下姿态检测及作业控制技术

摘要

为解决架空输电线路巡检机器人风载下出现脱轨及无法获取有效巡检照片的问题,建立巡检机器人风载下的受力模型,研究分析风载对巡检机器人的影响,提出一种基于横向摆动姿态检测的机器人作业控制技术,根据风载下机体摆动姿态,实时优化机器人作业规划,实现实时控制巡检机器人的行走动作与巡检策略.室外测试中,基于该技术的巡检机器人能够根据风速变化合理选择行走动作,获得清晰有效定点巡检照片.研究结果表明:该技术能实际解决风载下巡检机器人行走安全性及巡检有效性问题.%In order to solve the problem of derail of the inspection robot for overhead transmission lines under wind load effect which may cause failure in obtaining effective inspection pictures,a force model for the inspection robot under wind load effect was established for studying and analyzing influence of wind load on the inspection robot.A kind of robot job control technology based on lateral swing gesture detection was presented which was able to optimize robot operation planning in real time and control walking motion and inspection strategy of the robot as well according to swing gesture of the robot under wind load.In outdoors testing,the inspection robot based on this technology could reasonably select walking motion according to variation of wind speed and acquire clear and effect site-specific inspection pictures.Research results indicate that this technology can actually solve the problem of security and effectiveness of the inspection robot walking under wind load.