广东电力2017，Vol.30Issue(1)：116-120,5.DOI:10.3969/j.issn.1007-290X.2017.01.022
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
Technology for Gesture Detection and Job Control of Inspection Robot for Overhead Transmission Line Under Wind Load
摘要
Abstract
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.关键词
架空输电线路/巡检机器人/风载作用/姿态检测/作业规划/实时控制Key words
overhead transmission line/inspection robot/wind load effect/gesture detection/operation planning/real-time control分类
信息技术与安全科学引用本文复制引用
钱金菊,吴功平,彭向阳,王柯,王锐..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[J].广东电力,2017,30(1):116-120,5.基金项目
中国南方电网有限责任公司科研项目(K-GD2014-0621) （K-GD2014-0621）
