跨越式巡检机器人的自主越障方法研究
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摘要
分析了跨越式巡线机器人跨越通过悬垂线夹等障碍物的动作序列,指出限制其自主性的关键动作。在该动作过程中提出了一种越障简化模型,并利用该模型计算出越障过程中障碍物与机械臂之间的实时距离。然后制定出始终保持安全距离的自主跨越越障控制方案,并且分析在控制过程中机械臂上脆弱部件的受力,将其作为不同控制参数选取下的评判依据。最后选择不同的控制参数,分别在模拟高压输电线路上进行实验,并且对比分析其受力和消耗时间。
Analyse the stride-type inspection robot's whole Action sequence of passing obstacles like double-clamp. And point out the key action that limits the robot's autonomy. And propose a simplified model in this key action. By using this model to calculate distance between obstacle and robot's arm,we make a control plan to let the arm move smoothly without committing a collision. In this control plan,we use the force of the fragile part and the consumption of time,to judge whether the control parameter has been chosen well. Finally we carry out a series of experiment in the simulated high voltage transmission line,that use different control parameter. and make a comparision of time consumtion and force.
Analyse the stride-type inspection robot's whole Action sequence of passing obstacles like double-clamp. And point out the key action that limits the robot's autonomy. And propose a simplified model in this key action. By using this model to calculate distance between obstacle and robot's arm,we make a control plan to let the arm move smoothly without committing a collision. In this control plan,we use the force of the fragile part and the consumption of time,to judge whether the control parameter has been chosen well. Finally we carry out a series of experiment in the simulated high voltage transmission line,that use different control parameter. and make a comparision of time consumtion and force.
引文
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[7]王鲁单,王洪光.一种输电线路巡检机器人的控制系统的设计与实现[J].机器人,2007(29):8-14.(Wang Lu-dan,Wang Hong-guang.A design and fulfilment of the transmission line inspection robot’s control system[J].Robot.2007(29):8-14.)
[8]邬大为,阮毅.基于产生式系统和轨迹优化的巡检机器人控制[J].计算机工程与设计,2008,29(11):2868-2970.(Wu Da-wei,Ruan Yi.Inspection control based on production system and trajectory optimization Computer engineering and design[J].Computer Engineering and Design,2008,29(11):2868-2970.)
[9]李正.高压输电线路自主巡检机器人的研究[D].上海:上海大学,2013.(Li Zheng.The research of the autonous inspection robot for power transmission line[D].Shanghai:Shanghai Univercity,2013.)
[10]洪展.风载荷下巡检机器人姿态检测与作业优化[J].机械设计与制造,2016(12):197-200.(Hong Zhan.Attitude detection and operation optimization of inspection robot under wind load[J].Machinery Design&Manufacture,2016(12):197-200.)
[2]Wang Wei.Hand-eye-vision based control for an inspection robot’s autonomous line graspping[J].Journal of Central South Univercity,2014,21(6):2216-2227.
[3]Nicolas Pouliot P R.Line scout power line robot:characterization of a UTM-30LX LIDAR system for obstacle detection[J].IEEE/RSJ International Conference on Intelligent Robots and Systems,2012:4327-4334.
[4]张运楚,梁自泽.基于结构约束的架空输电线路巡线机器人障碍识别[J].机器人,2007(1):1-6.(Zhang Yun-chu,Liang Zi-zhe.Obstacle identification of overhead transmission line inspection robot that based on structural constraints[J].Robot,2007(1):1-6.)
[5]Debenest P,Guarnieri M.Expliner-from prototype towards a practical robot for inspection of high-voltage lines[J].Applied Robotics for the Power Industry(CARPI),2010 1st International Conference on,2010:1-6.
[6]Ludan Wang.Development and control of automously obstacle-navagation inpsection robot for extra-high voltage power transmission lines[C].International Joint Conference in Oct,2006:18-21.
[7]王鲁单,王洪光.一种输电线路巡检机器人的控制系统的设计与实现[J].机器人,2007(29):8-14.(Wang Lu-dan,Wang Hong-guang.A design and fulfilment of the transmission line inspection robot’s control system[J].Robot.2007(29):8-14.)
[8]邬大为,阮毅.基于产生式系统和轨迹优化的巡检机器人控制[J].计算机工程与设计,2008,29(11):2868-2970.(Wu Da-wei,Ruan Yi.Inspection control based on production system and trajectory optimization Computer engineering and design[J].Computer Engineering and Design,2008,29(11):2868-2970.)
[9]李正.高压输电线路自主巡检机器人的研究[D].上海:上海大学,2013.(Li Zheng.The research of the autonous inspection robot for power transmission line[D].Shanghai:Shanghai Univercity,2013.)
[10]洪展.风载荷下巡检机器人姿态检测与作业优化[J].机械设计与制造,2016(12):197-200.(Hong Zhan.Attitude detection and operation optimization of inspection robot under wind load[J].Machinery Design&Manufacture,2016(12):197-200.)