CAJ | 학술논문

根据500 kV超高压架空输电线路的结构及障碍特点,设计多传感器、多驱动器巡检机器人越障控制方案,提出采用多传感器二次定位方法实现巡检机器人越障时的空间定位.阐述系统的结构和越障原理,通过线下模拟实验环境,不断测试生成合理的知识库,实际越障时根据实测信号自动调用知识库完成自主越障动作.实验结果表明:传感器工作可靠,知识库和空间定位方法设计合理,巡检机器人能高效、快速、高精度地完成巡检及越障任务.
근거500 kV초고압가공수전선로적결구급장애특점,설계다전감기、다구동기순검궤기인월장공제방안,제출채용다전감기이차정위방법실현순검궤기인월장시적공간정위.천술계통적결구화월장원리,통과선하모의실험배경,불단측시생성합리적지식고,실제월장시근거실측신호자동조용지식고완성자주월장동작.실험결과표명:전감기공작가고,지식고화공간정위방법설계합리,순검궤기인능고효、쾌속、고정도지완성순검급월장임무.
An inspection robot obstaclenavigation control scheme based on multisensor and multidrive was designed according to the structure and hurdles characteristics of 500 kV extrahigh voltage overhead power lines. The second positioning method based on multisensor was proposed to achieve spatial orientation when the inspection robot was crossing obstacle. The structure of the system, obstaclenavigation principle and inspection method were expounded. Through constantly offline test,reasonable knowledge base was generated. Based on the measurement signals,the knowledge base was invoked automatically to complete the action of automatic obstaclenavigation. Experimental results show that the sensor works reliably,the knowledge base and spatial orientation method are designed reasonably,the inspection and obstaclenavigation task can be completed effectively,fast and precisely.