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基于PLC的输电线路巡检机器人越障自动化控制研究

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针对传统方法在输电线路巡检机器人越障自动化控制中应用存在质心高度较高、稳定性系数较低的问题,提出基于PLC的输电线路巡检机器人越障自动化控制研究.结合超声波传感器和摄像头采集的机器人路况信息,识别障碍,通过建立巡检机器人越障动力学模型,描述机器人运动状态,利用PLC对机器人越障姿态进行控制,实现基于PLC的输电线路巡检机器人越障自动化控制.实验结果表明,设计方法应用下机器人质心高度不超过5 mm,稳定性系数在0.85以上,可以实现对巡检机器人越障精准控制.
PLC-based Obstacle Crossing Automated Control of Transmission Line Inspection Robot
Due to the problems of high centroid height and low stability coefficient in the application of conventional meth-ods in the obstacle crossing automated control of transmission line inspection robots,the obstacle crossing automation control of transmission line inspection robot based on PLC was studied.By combining the road condition information col-lected by ultrasonic sensors and cameras,obstacles were identified.By establishing a dynamic model for the obstacle crossing of the inspection robot,the robot's motion state was described.Using PLC to control the robot's obstacle cross-ing posture,PLC based automatic control of the transmission line inspection robot obstacle crossing was achieved.The ex-perimental results showed that under the application of the design method,the center of mass height of the robot was less than 5 mm,and the stability coefficient was above 0.85,which could achieve precise control of the inspection robot cross-ing obstacles.

PLCtransmission line inspection robotobstacle crossingautomated controldynamic model

何琛、王昭华

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西安航天化学动力有限公司,陕西 西安 710025

PLC 输电线路巡检机器人 越障 自动化控制 动力学模型

2024

电工技术
重庆西南信息有限公司(原科技部西南信息中心)

电工技术

影响因子:0.177
ISSN:1002-1388
年,卷(期):2024.(20)