基于无线通信的配网线路蛇形爬线巡检机器人智能控制
Intelligent Control of Snake Climbing Inspection Robot for Distribution Line Based on Wireless Communication
尚娅慧1
作者信息
- 1. 云南电网有限责任公司昆明供电局,昆明 650000
- 折叠
摘要
目前研究的配网线路蛇形爬线巡检机器人智能控制方法容易受到外界干扰,造成质心参数极低.为了解决上述问题,本文提出基于无线通信的配网线路蛇形爬线巡检机器人智能控制.该方法先建立巡检机器人运动数学函数,再进行基于无线通信的配网线路蛇形爬线巡检机器人姿态信息转换,计算巡检轨迹偏差,最后进行巡检轨迹偏差控制,从而实现巡检机器人智能控制.实验结果证明,该方法质心参数较高,质心参数最高达到了0.35,证明该方法巡检机器人控制效果较好.
Abstract
The intelligent control method of distribution line snake inspection robot is easily affected by external interference,resulting in extremely low center of mass parameter.In order to solve the above problems,this paper puts forward the intelligent control of distribution line serpentine climbing inspection robot based on wireless communication.The method first establishes the inspection robot motion mathematical function,then carries out the wireless communication based distribution line serpentine crawling inspection robot attitude information conversion,calculates the inspection trajectory deviation,and finally carries out the inspection trajectory deviation control,so as to realize the intelligent control of the inspection robot.The experimental results prove that the method has a high center of mass parameter,and the highest center of mass parameter reaches 0.35,which proves that the method has a better inspection robot control effect.
关键词
无线通信/配网线路/蛇形爬线/巡检机器人/智能控制Key words
wireless communication/distribution network line/snake climbing line/inspection robot/intelligent control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据