Please wait a minute...
工程设计学报
工程设计学报  2016, Vol. 23 Issue (5): 481-488    DOI: 10.3785/j.issn.1006-754X.2016.05.011
整机和系统设计     
可全程越障架空输电线巡线机器人设计
刘国平, 孙茂文, 缪航, 秦科技, 俞振东
南昌大学 机电工程学院, 江西 南昌 330031
Design of an inspection robot with surmounting all obstacles ability for overhead transmission lines
LIU Guo-ping, SUN Mao-wen, MIAO Hang, QIN Ke-ji, YU Zhen-dong
School of Mechanical and Electrical Engineering, Nanchang University, Nanchang 330031, China
 全文: PDF(3345 KB)   HTML
摘要：

针对现有巡线机器人无法完全跨越所有地线障碍物的现状，提出一种新的巡线机器人越障方案.巡线机器人由单臂机构提供行走驱动力，双臂机构完成越障任务.该方案具有跨越所有障碍，且越障时动作简单，所需驱动力少的特点.通过理论分析及软件仿真的方法对巡线机器人越障关键环节进行分析，得到机器人越障过程的运动特性.在此基础上，制作出试验样机，并在模拟线路上进行越障实验，结果表明：该设计方案能完成预定的越障功能.证明了这种新的越障方案的有效性及可行性.
关键词： 巡线机器人;  全程越障;  越障实验    
Abstract:

Aiming to the status quo that the inspection robot couldn't surmount all kinds of obstacles in overhead ground wires, a kind of brand-new method for the inspection robot obstacle negotiation was put forward. The inspection robot was driven by single arm and the mission of obstacle negotiation was accomplished by other two mechanical arms. This brand-new method could surmount all kinds of fittings with simple mechanical movements and less driving force. The key link of obstacle negotiation was calculated by theoretical analysis and simulation experiments which showed the motion characteristics of the robot during surmounting obstacles. On this base, an experimental prototype was came out to experiment on the high-voltage transmission lines in laboratory. The results show that the inspection robot can perform preplanned functions. The effectiveness and feasibility of the brand-new method are verified by surmounting obstacles test.
Key words: inspection robot    surmount all kinds of obstacles    surmounting obstacles test
收稿日期: 2016-03-14 出版日期: 2016-10-28
CLC:  TP24  
基金资助:

江西省科技支撑计划项目（00406631100924020）.
作者简介: 刘国平(1964-),男,江西南昌人,教授,博士生导师,博士,从事智能机器人与视觉、机器人技术与智能自动化等研究,E-mail:liuguoping@ncu.edu.cn.http://orcid.org//0000-0002-6533-3733
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
刘国平
孙茂文
缪航
秦科技
俞振东

引用本文:

刘国平, 孙茂文, 缪航, 秦科技, 俞振东. 可全程越障架空输电线巡线机器人设计[J]. 工程设计学报, 2016, 23(5): 481-488.

LIU Guo-ping, SUN Mao-wen, MIAO Hang, QIN Ke-ji, YU Zhen-dong. Design of an inspection robot with surmounting all obstacles ability for overhead transmission lines. Chinese Journal of Engineering Design, 2016, 23(5): 481-488.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.05.011    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I5/481

[1] PEUNGSUNGWAL S, PUNGSIRI B, CHAMNONGTHAI K, et al. Autonomous robot for a power transmission line Inspection[C]//The 2001 IEEE International Symposium on Circuits and Systems. Sydney, NSW Australia, 2001: 121-124.
[2] TOTH J, POULIOT N, MONTAMBAULT S. Field experiences using LinesCout technology on large BC transmission crossings[C]//20101st International Conference on Applied Robotics for the Power Industry. CARPI, 2010.
[3] POULIOT N, LATULIPPE P, MONTAMBAULT S. Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2009: 1703-1710.
[4] 何缘,吴功平,王伟,等. 改进的穿越越障巡检机器人设计及越障动作规划[J]. 四川大学学报(工程科学版),2015,47(6): 157-164. HE Yuan, WU Gong-ping, WANG Wei, et al. Advanced design and motion plan of an improved inspection robot running across obstacles[J]. Journal of Sichuan University (Engineer Science Edition),2015,47(6): 157-164.
[5] 吴功平,曹珩,皮渊,等.高压多分裂输电线路自主巡检机器人及其应用[J]. 武汉大学学报(工学版),2012,45(1): 96-102. WU Gong-ping, CAO Heng, PI Yuan, et al. An autonomous inspection robot for high voltage bundled transmission line and its application[J].Engineering Journal of Wuhan University, 2012,45(1): 96-102.
[6] WANG H, ZHANG F, JIANG Y, et al. Development of an inspection robot for 500 kV EHV power transmission lines[C]. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010-Conference Proceedings, 5107-5112.
[7] 李贞辉,王洪光,王越超,等.输电线巡检机器人自主抓线的控制[J]. 吉林大学学报(工学版),2015,45(5): 1519-1526. LI Zhen-hui, WANG Hong-guang, WANG Yue-chao, et al. Line-grasping control for a power transmission line inspection robot[J]. Journal of Jilin University (Engineering and Technology Edition), 2015,45(5): 1519-1526.
[8] 宋伟,江鹏,郑彦宁,等.基于模块化关节高压巡线机器人方案改进[J]. 仪器仪表学报,2014,35(S2): 42-49. SONG Wei, JIANG Peng, ZHENG Yan-ning, et al. Improvement of modular joint for power transmission lines inspection robot[J]. Chinese Journal of Scientific Instrument, 2014, 35(S2): 42-49.
[9] 叶长龙,高露,余雪,等. 三臂结构高压线巡检机器人设计与运动学仿真效果研究[J]. 沈阳农业大学学报,2015,46(1): 79-84. YE Chang-long, GAO Lu,YU Xue, et al. Mechanical design of high voltage line inspection robot with three arms and its simulation performance[J]. Journal of Shenyang Agricultural University, 2015, 46(1): 79-84.
[10] 魏永乐,房立金,陶广宏.新型双臂巡线机器人越障过程受力分析[J]. 机械科学与技术,2014,33(8): 1117-1121. WEI Yong-le,FANG Li-jin,TAO Guang-hong. The mechanical analysis on the crossing obstacle process of new-type dual-arms inspection robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2014,33(8): 1117-1121.
[11] 朱兴龙,王洪光,房立金,等. 自主越障巡检机器人质心调节控制[J].机器人,2006,28(4): 385-388. ZHU Xing-long, WANG Hong-guang, FANG Li-jin, et al. Centroid adjustment control on autonomous obstacle negotiating inspection robot[J].Robot, 2006,28(4): 385-388.
[12] JAKA K,FRANJO P,BOSTJAN L. A survey of mobile robots for distribution power line inspection[J].IEEE Transactions on Power Delivery, 2010, 25(1):485-493.
[13] POULIOT N, MONTAMBAULT S. Hydro-Québec LineScout technology: from inspection to robotic maintenance on live[C]. Transmission Power Lines 2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May.2009: 12-17.
[14] 徐显金,李维峰,吴功平,等. 沿架空地线行驶的自主巡检机器人及应用[J]. 武汉大学学报(工学版), 2010,43(6):752-756,761. XU Xian-jin, LI Wei-feng, WU Gong-ping, et al. An autonomous inspection robot for transmission line along overhead ground line and its application[J].Engineering Journal of Wuhan University,2010,43(6): 752-756,761.
[15] 周风余,李贻斌,吴爱国,等.高压巡线机器人的设计与实现[J].机械科学与技术,2006,25(5): 623-626. ZHOU Feng-yu, LI Yi-bin, WU Ai-guo, et al.Design and implementation of inspection robots for high voltage power transmission lines[J].Mechanical Science and Technology for Aerospace Engineering,2006,25(5): 623-626.
[16] WANG J D, SUN A Q, SU W, et al.Development of an expert control strategy for controlling obstacle crossing of a high-voltage transmission line inspection robot[C]//Proceedings of the 18th International Conference on Automation & Computing. Lough borough University,Leicestershire,UK,2012:285-289.
[17] 杨德伟,冯祖仁,张翔.新型三臂巡线机器人机构设计及运动分析[J].西安交通大学学报, 2012, 46(9):43-48. YANG De-wei,FENG Zu-ren,ZHANG Xiang.Mechanism design and kinematic analysis of a novel tribrachiation robot for transmission line inspection[J].Journal of Xi'an Jiaotong University,2012,46(9): 43-48.
[18] 霍伟.机器人动力学与控制[M].北京:高等教育出版社,2005: 23-31. HUO Wei. Robot dynamics and control[M].Beijing: Higher Education Press, 2005: 23-31.
[19] PETER C. Robotics, vision and control fundamental algorithms in MATLAB[J]. Springer Tracts in Advanced Robotics, 2011, 73(8): 43-64.
[20] 李增刚.ADAMS入门详解与实例[M].2版.北京:国防工业出版社,2014: 340-342. LI Zeng-gang. ADAMS introduction and training examples[M]. 2th ed. Beijing: National Defense Industry Press, 2014: 340-342.
[1] 李静, 朱凌云, 苟向锋. 基于人机闭链的下肢康复外骨骼机构运动学分析[J]. 工程设计学报, 2019, 26(1): 65-72,109.
[2] 张国龙, 张杰, 蒋亚南, 杨桂林, 张驰. 机器人力控末端执行器综述[J]. 工程设计学报, 2018, 25(6): 617-629.
[3] 卢清华, 黄铭贤, 陈为林. 平面阻尼型欠驱动夹持器的多模式参数优化设计[J]. 工程设计学报, 2018, 25(6): 690-696.
[4] 范曙远, 王海波, 吴小笛, 张乐, 张龙. 工业装配外骨骼机械臂承重性能研究[J]. 工程设计学报, 2018, 25(6): 697-702.
[5] 刘宝华, 曹海龙, 周伟科. 汽车电动座椅出厂位姿调整方法研究[J]. 工程设计学报, 2018, 25(5): 503-509.
[6] 贾慧波, 李程宇, 吴晓君, 刘小青, 李彦磊. 全向自动导引车导向机构设计及其运动控制研究[J]. 工程设计学报, 2018, 25(5): 546-552.
[7] 唐东林, 袁波, 胡琳, 李茂扬, 魏子兵. 储罐探伤爬壁机器人全遍历路径规划方法[J]. 工程设计学报, 2018, 25(3): 253-261.
[8] 高凤强, 董坤煌, 周牡丹, 郭一晶. 基于电感数字变换传感器的智能小车自动循迹系统[J]. 工程设计学报, 2018, 25(2): 216-222.
[9] 阴贺生, 张秋菊, 宁萌. 全向移动机器人驱动轮同步转向机构设计[J]. 工程设计学报, 2018, 25(2): 230-236.
[10] 高征, 王璐, 郭钰莹. 索杆式风电叶片检测装置的运动学分析[J]. 工程设计学报, 2018, 25(2): 188-193.
[11] 黄梓亮, 方晨昊, 欧阳小平, 杨金江, 杨华勇. 基于多信息融合的下肢外骨骼机器人感知系统研究[J]. 工程设计学报, 2018, 25(2): 159-166.
[12] 文瑞桥, 杨梦鸥, 刘涛, 张均富. 机器人的运动时变可靠性分析[J]. 工程设计学报, 2018, 25(1): 50-55.
[13] 王晨学, 平雪良, 徐超. 基于视觉辅助定位的机械臂运动学参数辨识研究[J]. 工程设计学报, 2018, 25(1): 27-34.
[14] 朱龙彪, 王辉, 王景良, 邵小江, 朱志慧. 基于动态时间窗的泊车系统路径规划研究[J]. 工程设计学报, 2017, 24(4): 440-448.
[15] 章永华, 何建慧. 鳍条运动模式对仿生波动鳍推进力影响的研究[J]. 工程设计学报, 2017, 24(1): 89-99.