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针对高压输电线路巡检机器人系统具有多种类多数量传感器的特点,介绍一种根据线路环境信息的差异、机器人运行速度的快慢而将检障行为进行分类规划再有机融合的检障与定位方法,并介绍机器人高、中、低速下各检障行为的算法.通过模拟线路的检障与定位实验,表明提出的基于多源传感器行为融合的检障定位方法的正确性和实用性.
Aiming at the characteristics of multi-type and multi-sensors in the inspection robot system of high-voltage transmission line, this paper introduces a method of fault detection and location based on the difference of line environment information and the speed of robot’s operation, The algorithm of obstacle avoidance at high, medium and low speed is introduced, and the correctness and practicability of the proposed method based on the multi-source sensor behavior fusion are demonstrated through the test of obstacle avoidance and positioning of analogue lines.