摘要
针对电缆沟道运维工作存在的紧急情况勘测难问题,提出多足仿生监测机器人方案,介绍了电缆沟道监测机器人平台、控制、电源、遥控监测、通信等组成模块及其功能,探讨了电动6自由度3关节机器臂、基于动作构建的仿生多足沟道机器人行为模式、多频融合技术、电缆蠕动监测、机器人关节驱动等关键技术,通过实践应用,满足了电缆沟道日常巡检与应急指挥需求,为运维人员快速掌握沟道环境及设备状况,进行故障定位等提供了新方法.
Abstract
Aiming at difficulties in the survey of the emergency which often exists in the maintenance of the cable channel,this paper puts forward a multi-legged bionic robot monitoring scheme.The paper introduces the modules and their functions for cable channel monitoring robot platform,control,power supply,monitoring and control,and communication,and discusses the electric arm of 6 degrees of freedom and 3 joints,the behavior model of the multi-legged bionic channel robot constructed based on actions,multi channel frequency fusion technology,cable peristalsis monitoring,robot joint drive and other key technologies.These technologies,through the practice,can meet the requirements of the cable channel daily inspection and emergency command,providing a new method for operation and maintenance personnel to quickly grasp the channel environment,equipment status,fault location etc.
NETL
NSTL
维普
万方数据