CAJ | 학술논문

针对架空输电线路巡检中,杆塔、导（地）线上存在诸多障碍物（防震锤、压接管、耐张线夹、悬垂线夹等）及其相对位置和形态不固定的特点,设计了1种能够自主行进、跨越障碍物的巡检机器人。通过本体控制系统规划、传感器识别系统和补给电源设计等关键技术的应用,使巡检机器人上线自主行进过程试验取得初步成功。结果表明：自主行进过程中机器人与地面基站之间数据通信流畅,传感器探测回传图像清晰,从而验证了巡检机器人机构部件及控制系统的有效性。
침대가공수전선로순검중,간탑、도（지）선상존재제다장애물（방진추、압접관、내장선협、현수선협등）급기상대위치화형태불고정적특점,설계료1충능구자주행진、과월장애물적순검궤기인。통과본체공제계통규화、전감기식별계통화보급전원설계등관건기술적응용,사순검궤기인상선자주행진과정시험취득초보성공。결과표명：자주행진과정중궤기인여지면기참지간수거통신류창,전감기탐측회전도상청석,종이험증료순검궤기인궤구부건급공제계통적유효성。
Aiming at the characteristic of obstacles on the pole, tower and line （such as damper, crimping pipe, suspension clamp, etc.） and their unfixed relative position and shape in patrol of over- head power transmission line, designs a sort of patrol robot which can independently move and span obstacle on the pole, tower and line. By the application of key technology such as the layout of the body control system, the design of sensor identification system and supplementary power supply, the test of patrol robot on-line independence move makes success, The result shows that data traffic between body and ground control station are fluent, return images are clear, thereby verifies the validity of the patrol robot＇ s mechanism parts and the control system.