CN100502181C - Robot of autonomous moving along 110KV transmission line and its working method - Google Patents

Robot of autonomous moving along 110KV transmission line and its working method Download PDF

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CN100502181C
CN100502181C CN 200510042569 CN200510042569A CN100502181C CN 100502181 C CN100502181 C CN 100502181C CN 200510042569 CN200510042569 CN 200510042569 CN 200510042569 A CN200510042569 A CN 200510042569A CN 100502181 C CN100502181 C CN 100502181C
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robot
autonomous
moving
working
along
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CN 200510042569
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CN1658460A (en )
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周风余
锐 宋
恩 李
李贻斌
梁自泽
王吉岱
肖海荣
荣学文
民 谭
魏军英
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山东大学
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Abstract

沿110kV输电线自主行走的机器人及其工作方法,由机器人本体、控制装置、传感器、检测装置和无线图像传输设备组成;控制装置和无线图像传输设备安装在机器人本体中间的控制箱内,位置传感器安装在机器人的各个关节电机的术端,测距传感器和检测障碍用的视觉传感器CCD安装在每只手的前方,检测装置包括高速球摄像机和热成像仪通过云台与机器人本体相连。 110kV power line along the autonomous mobile robot and its working methods, by a robot body, a control device, a sensor, and detecting means composed of wireless video transmission apparatus; a control apparatus and a wireless image transmission device installed in the middle of the body of the robot control box, position sensor end of each joint operation of the motor mounted on the robot, and a distance measuring sensor detecting obstacles CCD with a visual sensor installed in front of each hand, the detection means comprises a high speed camera and the ball is connected via a thermal imager head with the robot body. 能够在110kV输电线路上平稳行走,自主地跨越输电线上的各种障碍,代替人进行输电线路的巡线工作,减轻输电线路巡线的工作量,提高工作效率和检测的精度,达到确保输电线路安全运行的突出特点。 A smooth walking 110kV transmission lines, independently across a variety of obstacles on the transmission line, transmission line instead of the person working transmission line, to reduce the workload of the transmission line transmission line, to improve the accuracy and efficiency of detection, to enable the transmission of salient features of the safe operation of the line.

Description

沿110kV输电线自主行走的机器人及其工作方法 110kV power line along the autonomous mobile robot and its working methods

技术领域 FIELD

本发明涉及一种机器人,特别是一种沿110kV输电线自主行走的机器人及其工 The present invention relates to a robot, particularly to a 110kV power line along the robot to walk and work autonomously

作方法。 As a method.

背景技术 Background technique

电力传输必须依靠高压输电线路,它的安全稳定运行直接影响到电力系统的可靠性,由于输电线路分布点多面广,很多处在远离城镇,所处地形复杂,自然环境恶劣。 Power transmission must rely on high-voltage transmission lines, its security and stability directly affect the reliability of the power system, due to the distribution point transmission lines over a broad area, away from the lot in the town, which the complex terrain, harsh natural environment. 电力线及杆塔附件长期暴露在野外,因受到持续的机械张力、电气闪络、材料老化的影响而产生断股、磨损、腐蚀等损伤,如不及时修复更换,原本微小的破损和缺陷就可能扩大,最终导致严重事故,造成大面积停电,从而造成极大的经济损失和严重的社会影响。 Power lines and tower accessories long-term exposure in the wild, suffering sustained mechanical tension, electrical flashover effect material aging generated off shares, wear, corrosion and other damage, if not repaired in time to replace the original minor damage and defects may expand eventually lead to serious accidents, causing widespread power outages, resulting in great economic losses and serious social impact. 所以,必须对输电线路进行定期巡视检查,随时掌握和了解输电线路的运行情况以及线路周围环境和线路保护区的变化情况,以便及时发现和消除隐患,预防事故的发生,确保供电安全。 Therefore, the need for regular visits to check on the transmission line, and keep abreast of changes in operating conditions as well as the surrounding environment and line protection zone of the line understand the transmission line, in order to detect and eliminate hidden dangers and prevent accidents, ensure security of electricity supply.

传统的安全检查称为巡线,主要包括人力巡线、车辆巡线和直升飞机巡线。 Traditional security checks referred to patrol lines, including human transmission line, line patrol vehicles and helicopters patrol line. people

力巡线效率低,劳动强度大,还受到大江、大河,高山等地理条件的限制;车辆巡线受地面交通的限制,很多地方无法实现车辆巡线;直升机巡线的费用较高,很难达到需要的巡视精度。 Power line patrol inefficient, labor-intensive, but also by geographical constraints river, rivers, mountains and so on; line patrol vehicle limited ground transportation, a lot of places can not be achieved patrol vehicle line; high cost of helicopter patrol line, it is difficult patrol reached the required accuracy. 目前多采用人力目测或借助望远镜观察完成巡线工作。 At present, many human visual aid of a telescope or observe complete line patrol work.

机器人技术的快速发展,为高压输电线路的巡检提供了新的途径,使采用机器人代替人力巡线成为可能。 The rapid development of robot technology, provides a new way to patrol high-voltage transmission lines, the use of robots replace human transmission line possible. 发明内容 SUMMARY

为克服现有技术的不足,本发明提供一种能够在110kV输电线路上平稳行走、 自主地跨越输电线上的各种障碍、可代替人工进行输电线路的巡线、减轻输电线路巡线的工作量、提高工作效率和检测精度、达到确保输电线路安全运行的沿110kV 输电线自主行走的机器人及其工作方法。 To overcome the deficiencies of the prior art, the present invention provides a smooth walking 110kV transmission lines, independently across a variety of obstacles on the transmission line, transmission line may be manually instead of transmission lines, reduce the work transmission line Inspection amount, improve the efficiency and accuracy of detection, the robot reaches its working methods to ensure safe operation of the transmission line in the transmission line 110kV autonomous walking.

一种沿110kV输电线自主行走的机器人,由机器人本体、控制装置、传感器、 检测装置和无线图像传输设备组成;控制装置和无线图像传输设备安装在机器人本体中间的控制箱内,位置传感器安装在机器人的各个关节电机的末端,测距传感器和检测障碍用的视觉传感器CCD安装在每只手的前方,检测装置包括高速球摄像机和热成像仪通过云台与机器人本体相连。 110kV power line along one kind of autonomous walking robot, the robot body, a control device, a sensor, and detecting means composed of wireless video transmission apparatus; a control apparatus and a wireless image transmission device installed in the middle of robot control box body, a position sensor mounted the motor end of each joint of the robot, and a distance measuring sensor detecting obstacles CCD with a visual sensor installed in front of each hand, the detection means comprises a high speed camera and the ball is connected via a thermal imager head with the robot body.

所述的机器人本体由控制箱、前后柔性臂、驱动装置、刹车装置、手掌开合装置组成,如图1所示。 The robot control box body, the front and rear flexible arm, drive means, brake means, the palm of the opening and closing apparatus, as shown in Fig. 前后柔性臂结构相同、位于控制箱两侧成对称结构,控制箱上方是一只具有伸縮功能的手臂,前后两个柔性臂,分别通过涡轮蜗杆减速器连接在控制箱上;每只手由两个手掌构成,手掌开合装置安装在手腕处,驱动装置和刹车装置安装在手掌上。 The same before and after the flexible arm structure located symmetrically on both sides of the control box structure, the top box is a control arm with a telescopic function, before and after two flexible arms, are connected to the control box through the worm reducer; each hand by the two constituting a palm, palm opening and closing means is mounted at the wrist, the drive means and brake means mounted on the hand palm.

所述的前后柔性臂均由肩关节、大臂、肘关节、小臂、腕关节和手组成,其中前柔性臂如图2所示。 The front and rear flexible arm by the shoulder, arm, elbow, arm, wrist and hand, where the front of the flexible arm shown in FIG. 前肩关节与控制箱固定连接,前大臂连接在前肩关节上,前大臂和前小臂通过由电机驱动的减速器构成的前肘关节相连,前小臂和前手与前腕关节相连,后柔性臂与前柔性臂结构相同,如图l所示;肩关节由电机和精密蜗轮蜗杆减速器、水平转盘和垂直转盘组成,电机通过精密蜗轮蜗杆减速器与水平转盘和垂直转盘连接。 Anterior shoulder fixedly connected to the control box, is connected before the front shoulder arm, connected to the front arm and the front arm by the motor-driven reducer constituting a front elbow, connected to the front arm and the hand before the front wrist , the flexible arm and the front of the flexible arm structure same as shown in FIG. L; shoulder by a motor and precision worm gear reducer, vertical and horizontal rotary turntable composition, the motor is connected by precision worm gear wheel and the vertical to the horizontal turntable.

所述的驱动装置包括结构相同的后手驱动装置、前手驱动装置和中间手驱动装置,各驱动装置由驱动电机、伞齿轮减速器和驱动轮组成,其结构示意图如图3所示。 Said driving means comprises a driving means FLAC same configuration, and the intermediate drive means before hand a hand drive means, each driving means by a driving motor, and a drive wheel bevel gear reducer, whose structural diagram is shown in Fig. 驱动电机通过伞齿轮减速器与驱动轮的传动轴相连,伞齿轮的输入输出轴呈垂直关系,驱动装置安装在手掌支架上;在跨越线夹、悬垂及跳线时能够打开、实现跨越的驱动轮为中间分离式,驱动轮采用高强度、高弹性、高摩擦系数材料。 A drive motor connected to the shaft by bevel gear reducer and drive wheels, bevel gear input and output shafts in a vertical relationship, drive means mounted on the palm support; when crossing clamp can be opened, and depending jumper driving leap separate intermediate gear, wheels made of high strength, high flexibility, high coefficient of friction material.

所述的刹车装置包括结构相同的后手刹车装置、中间手刹车装置和前手刹车装置,刹车装置安装在手掌支架上,该装置由刹车电机,螺旋机构和曲柄滑块机构组成,如图4所示。 Said brake means includes a same structure as the parking brake apparatus, an intermediate apparatus and a hand brake device before the parking brake, the brake device is mounted on the palm support, the device consists of brake motors, the screw mechanism and the slider-crank mechanism, as shown in 4 Fig. 刹车电机与螺旋机构直接相连,曲柄滑块机构通过一个齿轮与螺旋机构啮合。 Brake motor and directly connected to the screw mechanism, a screw mechanism engaged with the slider-crank mechanism through a gear.

所述的手掌开合装置由螺旋机构和三角形增力机构26组成,如图4下半部分所示。 The opening and closing means by the hand screw mechanism 26 and the triangular boosting mechanism composed of the lower half 4 as shown in FIG. 驱动电机安装在螺旋机构的下部,螺旋机构与三角形增力机构相连,三角形的两个斜边分别装有滑块。 A drive motor mounted at a lower portion of the screw mechanism, a screw mechanism is connected to the booster mechanism triangle, the hypotenuse of the triangle are provided with two sliders.

所述的控制装置安装在机器人本体中间的控制箱内,由管理层、规划层和执行层组成,管理层与规划层通过无线信道连接,规划层与执行层(下位机)通过串行通讯线相连;其整体结构框图如图5所示。 Said control device is mounted in the middle of the control box of the robot body, by management, planning and implementation of layers of layers, layer management and planning through a radio channel connected to the planning and execution layer layer (lower machine) through the serial communication line connected; overall block diagram shown in FIG. 5. 管理层由地面监控计算机和无线设备组成, 地面监控计算机和无线设备组成通过通信线连接;规划层由机器人本体主计算机PC104及图像采集卡,1/0卡,超声传感器,CCD,高速球摄像机及红外热成像仪组成,超声传感器,CCD,高速球摄像机及红外热成像仪通过图像采集卡,I/O卡与计算机PC104连接;执行层(下位机)由单片机AT89S52、带编码器的电机及驱动模块、限位开关组成,电机通过驱动模块与单片机AT89S52连接,限位开关安装在升降装置和开合装置的两个极限位置处。 A ground monitoring and management of wireless device computer composition, ground monitoring computer and a wireless device connected through a communication line consisting of; planning robot body layer made of a host computer and an image acquisition card PC104, 1/0 cards, an ultrasonic sensor, CCD, camera and high-speed ball infrared thermal imager composition, an ultrasonic sensor, CCD, high-speed ball cameras and infrared imaging devices, through the image acquisition card, I / O card and a computer PC104 connection; execution layer (lower machine) by the microcontroller the AT89S52, encoder motor and drive module, consisting of a limit switch, the motor driving module is connected with the microcontroller via the AT89S52, limit switches mounted on the lifting device at two extreme positions and the opening and closing means.

所述的传感器中,超声测距传感器用美国产PID存615078-6500,辅助识别障碍物类型的视觉传感器CCD用日本产STC-635CC;关节位置传感器用瑞士产MAXON 500线3通道数字MR编码器;超长寿命小型限位开关用1LS-J700。 Said sensor, an ultrasonic ranging sensor producing deposit with the American PID 615078-6500, type of visual aid in identifying obstacles yield STC-635CC CCD sensor with Japan; Switzerland joint position sensor MAXON 500 line 3 channel digital MR encoder ; long life with a small limit switch 1LS-J700.

5所述的检测装置采用HS-PT480C智能高速球摄像机和hermaCAM E2热成像仪, 均通过云台与机器人本体相连;无线图像传输设备安装在机器人本体中间的控制箱内,无线设备的天线伸出控制箱外;无线图像传输设备用国产Transvideo900系列移动式无线图像设备。 Detection means 5 using the HS-PT480C High Speed ​​Dome cameras and thermal imagers hermaCAM E2 are connected with the robot body through the head; controlling a wireless image transmission device mounted in the middle inside the robot body, the projecting antenna wireless device outer control box; domestic wireless video transmission device with the image Transvideo900 series mobile radio device.

沿110kV输电线自主行走的机器人的工作方法如下: The method of working of the robot along the transmission line 110kV autonomous walking as follows:

第一步:机器人上线; The first step: the line on the robot;

第二步:地面监控计算机发出开机控制命令,机器人本体计算机PC104在接收到运行命令后,驱动机器人沿输电线相线行走; Step Two: ground monitoring computer sends power control commands, the robot body PC104 computer after receiving the operation command, drive the robot to walk along a transmission line phase;

第三步:行走过程中,检测装置不断检测前方障碍物的情况,同时高速球摄像机对线路和机器人本体的工作状态进行拍摄,拍到的图像通过无线设备实时传输到地面工作基站,地面工作基站对线路的情况进行判断,决定是否对线路进行维护;同时对机器人本身的工作状态进行监控,决定是否对机器人的运动给予干预; The third step: during walking, the detecting means continuously detects the obstacle in front of the case, while the high-speed camera operation state of the ball line and shooting the robot body, photographed image transmission to the ground station by a wireless device work in real time, the ground work station the situation of the line judge, to decide whether to maintain the line; at the same time working to monitor the state of the robot itself, to decide whether to give the robot's motion to intervene;

第四步:机器人检测到前方有防震锤时,由于手掌采用中空设计,因此机器人无需做任何调整,直接爬越; The fourth step: when the robot detects a shock front of the hammer, because the palm hollow design, so without making any adjustments to the robot, directly climbing;

第五步:检测到悬垂线夹时,机器人停止行走,进行调整;首先,使前臂上举直至驱动轮脱线,然后接通手掌开合装置的驱动电机,使两手掌分开,其开合度要大于障碍宽度;之后,接通后面两只手的驱动电机,使机器人继续行走,当中间手接近悬垂线夹时,停止行走,调节前臂,使线路在两分离驱动轮之间,启动手掌开合装置使两手掌合拢并让驱动轮挂在线上;然后打开中间的手,接通前后两只手的驱动电机, 继续行走;当后手接近悬垂线夹时,停止行走,使后手抱线,机器人完成跨越悬垂线夹的任务,继续前行; Step Five: suspension clamp is detected, the robot stops walking, adjustment; First, the forearm move until the off-line wheels, then turn on the drive motor to open and close the palm device, so that two hands are separated, the opening degree to which is greater than the width of the obstacle; Thereafter, the driving motor is turned back two hands, the robot continues to walk, when the hand approaches the intermediate suspension clamps, stops walking, adjusting the forearm, so that the separation line between the two drive wheels, to start opening and closing the palm It means that the two hands folded and hung on the line so that the drive wheel; then open the middle of the hand, the driving motor is turned on before and after the two hands, continue walking; when flip close suspension clamps, stops running, so that hugs the line, robot to complete tasks across the suspension clamp, move on;

第六步:检测到直线跳线线夹时,手的脱线和抱线方法与跨越悬垂线夹时一样; 首先,前手脱线,调整前臂姿态使前手抓住跳线,然后,中间手脱线,启动前后手的驱动电机使机器人行走;中间手接近跳线线夹时,停止行走,调整前后柔性臂,使中间手抓住跳线,启动行走;当后手接近跳线时,停止行走,后手脱线;用前手和中间手驱动机器人继续行走,越过跳线线夹后,停止行走,调整柔性臂,使后手抓住跳线, 完成从直线到跳线的跨越;机器人由跳线到直线的跨越方法与上述过程相同,由于是一个上坡过程,为了使机器人不至于滑下来,需使用刹车装置,当中间手刹车后,打开前手前手抱线后,再打开刹车装置; Sixth step: when the detected straight line jumper clamp, and hold the hand off-line the same way as when the line crossing the suspension clamp; first, off-line before hand, the posture of the front arm to adjust the hand grasp the jumper, then the intermediate hand off-line, before and after the start of the hand driving motor to the robot walks; hand approaches the intermediate jumper clamp, stop traveling, before and after adjustment of the flexible arm, hand grasp the intermediate jumper, start walking; flip close when the jumper, stop walking, flip off-line; after driving the robot hand and with the front intermediate hands continue to walk across the jumper clamp, stop traveling, adjustment of the flexible arm, so that flip grasp jumper, spanning from the completion of a straight line to a patch; the robot to the procedure described above by the jumper line across the method, since the process is an uphill, so that the robot will not slide down, use the brakes, the parking brake when the intermediate before opening the line hugs before hand, and then opens brake device;

第七步:检测到转弯跳线时,运动过程与跨越直线跳线不同的地方是柔性臂的姿态除了上下调整外,还需要水平调整,其余完全相同。 Seventh step: turning the jumper is detected, the linear movement of the jumper across different places in addition to the attitude of the flexible arm is adjusted up or down, but also to adjust the level of the rest is identical.

本发明具有设计合理,能够在110kV输电线路上平稳行走,自主地跨越输电线上的各种障碍,代替人进行输电线路的巡线工作,减轻输电线路巡线的工作量,提高工作效率和检测的精度,达到确保输电线路安全运行的突出特点。 The present invention has reasonable design, be able to walk in a stable 110kV transmission lines, independently across a variety of obstacles on the transmission line, transmission line instead of the person working transmission line, the transmission line reduce the workload of the transmission line, and improve the detection efficiency precision, to ensure the safe operation of the salient features of the transmission line. 附图说明 BRIEF DESCRIPTION

图1本发明的本体结构示意图。 Figure 1 a schematic view of the body structure of the present invention.

图2本发明中柔性臂结构示意图。 Figure 2 a schematic configuration of the flexible arm in the present invention.

图3本发明中驱动装置结构示意图。 Figure 3 a schematic structure of the apparatus of the present invention is driven.

图4本发明中刹车制动与手掌开合装置结构示意图。 4 in the present invention and a schematic view of the brake actuating means to open and close the palm.

图5本发明中控制器整体结构框图。 The controller block diagram illustrating the overall configuration of the present invention in FIG.

图6本发明中机器人工作流程图。 6 a flowchart of a robot in the present invention.

其中,1、后手驱动装置,2、后手刹车装置,3、中间手驱动装置,4、中间手 Wherein 1, FLAC driving means 2, the parking brake apparatus 3, an intermediate hand driving means 4, the middle hand

刹车装置,5、前手驱动装置,6、前手刹车装置,7、后腕关节,8、后小臂,9、后 Brake means 5, before the hand-driving means 6, before the parking brake device 7, the wrist, 8, the arm 9, after

肘关节,10、后大臂,11、后肩关节,12、控制箱,13、前肩关节,14、前大臂, Elbow 10, the boom 11, the shoulder 12, the control box 13, the front shoulder 14, before the boom,

15、前肘关节,16、前小臂,17、前腕关节,18、锁紧器,19、左半驱动轮20、右 15, before the elbow 16, the front arm 17, the forearm joint 18, the locking device, 19, the left driving wheel 20, a right

半驱动轮,21、伞齿轮减速器,22、驱动电机,23、异形刹车片,24、曲柄滑块机 Semi drive wheel 21, bevel gear units 22, drive motor 23, shaped brake pad 24, slider-crank machine

构,25、刹车电机,26、三角形增力机构,27、输电线,28、肩关节涡轮蜗杆减 Structure 25, the brake motor 26, a triangular force multiplier, 27, transmission line 28, shoulder worm Save

速器,29、刹车装置螺旋机构,30、开合装置螺旋机构。 Speed ​​detector 29, brake screw mechanism 30, a screw mechanism to open and close the device. 具体实施方式 detailed description

实施例:本发明的结构如图l、图2、图3、图4和图5所示, 一种沿110kV输电线自主行走的机器人,由机器人本体、控制装置、传感器、检测装置和无线屈像传输设备组成;控制装置和无线图像传输设备安装在机器人本体中间的控制箱12 内,位置传感器安装在机器人的各个关节电机的末端,测距传感器和检测障碍用的视觉传感器CCD安装在每只手的前方,检测装置包括摄像机和热成像仪通过云台与机器人本体相连。 Example: L configuration of the invention shown in FIG, 2, 3, 4 and 5, 110kV power line independent of a robot traveling along the robot body, a control device, a sensor, detecting device and the wireless Qu image transmitting apparatus composed; control apparatus and a wireless image transmission device installed in the middle of the robot main control box 12, the position sensor is mounted at the end of the motor of each joint of the robot, and a distance measuring sensor detecting obstacles by a visual sensor mounted on each CCD hand front, and the detecting means includes a camera head connected through a thermal imager with the robot body.

所述的机器人本体由控制箱12、前后柔性臂、驱动装置1、 3、 5、刹车装置2、 4、 6、手掌开合装置组成,如图1所示。 The robot body by a control box 12, the front and rear flexible arm, the driving device 1, 3, 5, the brake device 2, 4, 6, closure means consisting of palm, as shown in FIG. 前后柔性臂结构相同、位于控制箱12两侧成对称结构,控制箱12上方是一只具有伸縮功能的手臂,前后两个柔性臂,分别通过肩关节涡轮蜗杆减速器28连接在控制箱12上;每只手由两个手掌构成,手掌开合装置安装在手腕处,驱动装置l、 3、 5和刹车装置2、 4、 6安装在手掌上。 The same before and after the flexible arm structure, located in the control box 12 on both sides of a symmetrical configuration, the control box 12 is an upper arm having a telescopic function, before and after two flexible arms, are connected to the control box 12 through the worm reducer 28 shoulder ; each hand consists of two hands, palms wrist closure device is mounted, drive means l, 3, 5 and a brake device 2, 4, 6 mounted on the palm.

所述的前后柔性臂均由肩关节ll、 13、大臂10、 14、肘关节9、 15、小臂8、 16、 腕关节7、 17和手组成,其中前柔性臂如图2所示。 The front and rear flexible arm by shoulder ll, 13, arm 10, 14, elbow 9, 15, the arm 8, 16, 7 wrist, hand, and 17, of which the front flexible arms 2 . 前肩关节13与控制箱12固定连接,前大臂14连接在前肩关节13上,前大臂14和前小臂16通过由电机驱动的减速器构成的前肘关节15相连,前小臂16和前手与前腕关节17相连,后柔性臂与前柔性臂结构相同,如图l所示;肩关节由电机和精密蜗轮蜗杆减速器、水平转盘和垂直转盘组成,电机通过精密蜗轮蜗杆减速器与水平转盘和垂直转盘连接。 The front shoulder 13 connected to the control box 12 is fixed, the front arm 14 is connected to the front shoulder 13, 14 is connected to the front arm and the front arm 16 is constituted by the elbow before the motor-driven reducer 15, the front arm 16 before hand and wrist 17 connected with the front, rear and the front flexible arms same flexible arm structure, shown in Figure l; shoulder by a motor and precision worm gear reducer, vertical and horizontal rotary turntable composition, by precision worm gear motor with the horizontal and vertical carousel turntable connection.

所述的驱动装置包括结构相同的后手驱动装置1、前手驱动装置5和中间手驱动装置3,各驱动装置由驱动电机22、伞齿轮减速器21和驱动轮19、20组成,其结构示意图如图3所示。 Said drive means includes a same structure as the driving device 1 FLAC prochiral hand driving means 5 and the intermediate drive means 3, each of the drive means by a drive motor 22, reduction gear 21 and bevel gear wheels 19 and 20, whose structure 3 shown in the schematic in FIG. 驱动电机22通过伞齿轮减速器21与驱动轮19、 20的传动轴相 Drive motor 22 through bevel gear units 21 and the drive wheel shaft 19, 20 with

7连,伞齿轮的输入输出轴呈垂直关系,驱动装置安装在手掌支架上;在跨越线夹、 悬垂及跳线时能够打开、实现跨越的驱动轮19、 20为中间分离式,驱动轮19、 20采用高强度、高弹性、高摩擦系数材料。 7 is connected, the input shaft output bevel gear in a vertical relationship, drive means mounted on the palm support; when crossing clamp can be opened, and depending jumper leap of wheels 19, 20 to separate the intermediate drive wheel 19 , 20 high strength, high flexibility, high coefficient of friction material.

所述的刹车装置包括结构相同的后手刹车装置2、中间手刹车装置4和前手刹车装置6,刹车装置安装在手掌支架上,该装置由刹车电机25,螺旋机构29、 30和曲柄滑块机构24组成,如图4所示。 Said brake means includes a parking brake device of the same structure after 2, 4 and the intermediate parking brake apparatus 6 before the parking brake device, the brake device is mounted on the palm support, the apparatus 25, a screw mechanism 29, and the crank 30 by the brake motor slip block mechanism 24, as shown in Fig. 刹车电机25与螺旋机构29、 30直接相连,曲柄滑块机构24通过一个齿轮与螺旋机构29、 30啮合。 Brake motor 25 and a screw mechanism 29, 30 is directly connected, via a slider-crank mechanism 24 and the helical gear mechanism 29, 30 is engaged.

所述的手掌开合装置由螺旋机构29、 30和三角形增力机构26组成,如图4下半部分所示。 The opening and closing means by a hand screw mechanism 29, 30 and 26 triangles boosting mechanism composed of the lower half 4 as shown in FIG. 驱动电机22安装在刹车装置螺旋机构29的下部,开合装置螺旋机构30 与三角形增力机构26相连,三角形的两个斜边分别装有滑块。 Drive motor 22 is mounted at a lower portion of the brake screw mechanism 29, a screw mechanism 30 of the triangular device booster 26 is connected to the opening and closing mechanism, two oblique sides of the triangle are provided with a slider.

所述的控制装置安装在机器人本体中间的控制箱内,由管理层、规划层和执行层组成,管理层与规划层通过无线信道联接,规划层与执行层(下位机)通过串行通讯线相连;其整体结构框图如图5所示。 Said control device is mounted in the middle of the control box of the robot body, by management, planning and implementation of layers of layers, layer management and planning is coupled through a radio channel, and the execution level programming layer (lower machine) through the serial communication line connected; overall block diagram shown in FIG. 5. 管理层由地面监控计算机和无线设备组成, 地面监控计算机和无线设备组成通过通信线连接;规划层由机器人本体主计算机PC104及图像采集卡,1/0卡,超声传感器,CCD,高速球摄像机及红外热成像仪组成,超声传感器,CCD,高速球摄像机及红外热成像仪通过图像采集卡,I/O卡与计算机PC104连接;执行层(下位机)由单片机AT89S52、带编码器的电机及驱动模块、限位开关组成,电机通过驱动模块与单片机AT89S52连接,限位开关安装在升降装置和开合装置的两个极限位置处。 A ground monitoring and management of wireless device computer composition, ground monitoring computer and a wireless device connected through a communication line consisting of; planning robot body layer made of a host computer and an image acquisition card PC104, 1/0 cards, an ultrasonic sensor, CCD, camera and high-speed ball infrared thermal imager composition, an ultrasonic sensor, CCD, high-speed ball cameras and infrared imaging devices, through the image acquisition card, I / O card and a computer PC104 connection; execution layer (lower machine) by the microcontroller the AT89S52, encoder motor and drive module, consisting of a limit switch, the motor driving module is connected with the microcontroller via the AT89S52, limit switches mounted on the lifting device at two extreme positions and the opening and closing means.

所述的传感器中,超声测距传感器用美国产PID湘15078-6500,辅助识别障碍物类型的视觉传感器CCD用日本产STC-635CC;关节位置传感器用瑞士产MAXON 500线3通道数字MR编码器;超长寿命小型限位开关用1LS-J700。 Said sensor, an ultrasonic ranging sensor in USA 15078-6500 PID Xiang, type of visual aid in identifying obstacles CCD sensor with STC-635CC yield with Japan; joint position sensor production line in Swiss MAXON 500 channel digital MR encoder 3 ; long life with a small limit switch 1LS-J700.

所述的检测装置采用HS-PT480C智能高速球摄像机和hermaCAM E2热成像仪, 均通过云台与机器人本体相连;无线图像传输设备安装在机器人本体中间的控制箱内,无线设备的天线伸出控制箱外;无线图像传输设备用国产Transvideo900系列移动式无线图像设备。 Said detecting means using the HS-PT480C High Speed ​​Dome cameras and thermal imagers hermaCAM E2 are connected with the robot body through the head; wireless image transmission device installed in the middle of robot control box body, extended antenna wireless device control an outer box; wireless video transmission device with the mobile radio device made Transvideo900 image series.

沿110kV输电线自主行走的机器人的工作方法如下: The method of working of the robot along the transmission line 110kV autonomous walking as follows:

第一步:机器人上线; The first step: the line on the robot;

第二步:地面监控计算机发出开机控制命令,机器人本体计算机PC104在接收到运行命令后,驱动机器人沿输电线相线行走; Step Two: ground monitoring computer sends power control commands, the robot body PC104 computer after receiving the operation command, drive the robot to walk along a transmission line phase;

第三步:行走过程中,检测装置不断检测前方障碍物的情况,同时高速球摄像机对线路和机器人本体的工作状态进行拍摄,拍到的图像通过无线设备实时传输到地面工作基站,地面工作基站对线路的情况进行判断,决定是否对线路进行维护;同时对 The third step: during walking, the detecting means continuously detects the obstacle in front of the case, while the high-speed camera operation state of the ball line and shooting the robot body, photographed image transmission to the ground station by a wireless device work in real time, the ground work station the situation of the line judge, to decide whether to maintain the line; at the same time

8机器人本身的工作状态进行监控,决定是否对机器人的运动给予干预; 8 robot itself monitor the status of the work, to decide whether to give the robot motion to intervene;

第四步:机器人检测到前方有防震锤时,由于手掌釆用中空设计,因此机器人无需做任何调整,直接爬越; The fourth step: When the robot is detected in front of the hammer to the shock, since the palm preclude the use of hollow design, so without making any adjustments to the robot, directly climbing;

第五步:检测到悬垂线夹时,机器人停止行走,进行调整;首先,使前臂上举直至驱动轮脱线,然后接通手掌开合装置的驱动电机,使两手掌分开,其开合度要大于障碍宽度;之后,接通后面两只手的驱动电机,使机器人继续行走,当中间手接近悬垂线夹时,停止行走,调节前臂,使线路在两分离驱动轮之间,启动手掌开合装置使两手掌合拢并让驱动轮挂在线上;然后打开中间的手,接通前后两只手的驱动电机, 继续行走;当后手接近悬垂线夹时,停止行走,使后手抱线,机器人完成跨越悬垂线夹的任务,继续前行; Step Five: suspension clamp is detected, the robot stops walking, adjustment; First, the forearm move until the off-line wheels, then turn on the drive motor to open and close the palm device, so that two hands are separated, the opening degree to which is greater than the width of the obstacle; Thereafter, the driving motor is turned back two hands, the robot continues to walk, when the hand approaches the intermediate suspension clamps, stops walking, adjusting the forearm, so that the separation line between the two drive wheels, to start opening and closing the palm It means that the two hands folded and hung on the line so that the drive wheel; then open the middle of the hand, the driving motor is turned on before and after the two hands, continue walking; when flip close suspension clamps, stops running, so that hugs the line, robot to complete tasks across the suspension clamp, move on;

第六步:检测到直线跳线线夹时,手的脱线和抱线方法与跨越悬垂线夹时一样; 首先,前手脱线,调整前臂姿态使前手抓住跳线,然后,中间手脱线,启动前后手的驱动电机使机器人行走;中间手接近跳线线夹时,停止行走,调整前后柔性臂,使中间手抓住跳线,启动行走;当后手接近跳线时,停止行走,后手脱线;用前手和中间手驱动机器人继续行走,越过跳线线夹后,停止行走,调整柔性臂,使后手抓住跳线, 完成从直线到跳线的跨越;机器人由跳线到直线的跨越方法与上述过程相同,由于是一个上坡过程,为了使机器人不至于滑下来,需使用刹车装置,当中间手刹车后,打开前手前手抱线后,再打开刹车装置; Sixth step: when the detected straight line jumper clamp, and hold the hand off-line the same way as when the line crossing the suspension clamp; first, off-line before hand, the posture of the front arm to adjust the hand grasp the jumper, then the intermediate hand off-line, before and after the start of the hand driving motor to the robot walks; hand approaches the intermediate jumper clamp, stop traveling, before and after adjustment of the flexible arm, hand grasp the intermediate jumper, start walking; flip close when the jumper, stop walking, flip off-line; after driving the robot hand and with the front intermediate hands continue to walk across the jumper clamp, stop traveling, adjustment of the flexible arm, so that flip grasp jumper, spanning from the completion of a straight line to a patch; the robot to the procedure described above by the jumper line across the method, since the process is an uphill, so that the robot will not slide down, use the brakes, the parking brake when the intermediate before opening the line hugs before hand, and then opens brake device;

第七步:检测到转弯跳线时,运动过程与跨越直线跳线不同的地方是柔性臂的姿态除了上下调整外,还需要水平调整,其余完全相同。 Seventh step: turning the jumper is detected, the linear movement of the jumper across different places in addition to the attitude of the flexible arm is adjusted up or down, but also to adjust the level of the rest is identical.

Claims (8)

  1. 1、一种沿110kV输电线自主行走的机器人,其特征在于,机器人由机器人本体、控制装置、传感器、检测装置和无线图像传输设备组成;控制装置和无线图像传输设备安装在机器人本体中间的控制箱内,位置传感器安装在机器人的各个关节电机的末端,测距传感器和检测障碍用的视觉传感器CCD安装在后手驱动装置、中间手驱动装置和前手驱动装置的前方,检测装置包括高速球摄像机和热成像仪,高速球摄像机和热成像仪通过云台与机器人本体相连。 An autonomous robot to walk along 110kV transmission line, characterized in that the robot by the robot body, a control device, a sensor, and detecting means composed of wireless video transmission device; and control means for controlling the wireless image transmission device installed in the middle of the robot body tank, a position sensor mounted at the end of the motor of each joint of the robot, and a distance measuring sensor detecting obstacles by a visual sensor mounted CCD drive means FLAC, forward drive means and the intermediate hand front hand driving device, detecting means comprises a high-speed ball cameras and thermal imagers, cameras, and high-speed ball thermal imager head is connected to the body by a robot.
  2. 2、 如权利要求l所述的沿110kV输电线自主行走的机器人,其特征在于,所述的机器人本体由控制箱、前后柔性臂、驱动装置、刹车装置、手掌幵合装置组成,前后柔性臂结构相同、位于控制箱两侧成对称结构,控制箱上方是一只具有伸縮功能的手臂,前后两个柔性臂,分别通过涡轮蜗杆减速器连接在控制箱上;每只手由两个手掌构成,手掌开合装置安装在手腕处,驱动装置和刹车装置安装在手掌上。 2, along a 110kV power line as claimed in claim l autonomous walking robot claims, characterized in that said robot body by a control box, the front and rear flexible arm, drive means, brake means, consisting of palm Jian bonding apparatus, a flexible longitudinal arm the same configuration, the control box positioned symmetrically on both sides of the structure, the top box is a control arm with a telescopic function, before and after two flexible arms, are connected to the control box through the worm reducer; each hand consists of two palms palm opening and closing means is mounted at the wrist, the drive means and brake means mounted on the hand palm.
  3. 3、 如权利要求2所述的沿110kV输电线自主行走的机器人,其特征在于,所述的前后柔性臂均由肩关节、大臂、肘关节、小臂、腕关节和手组成,前肩关节与控制箱固定连接,前大臂连接在前肩关节上,前大臂和前小臂通过由电机驱动的减速器构成的前肘关节相连,前小臂和前手与前腕关节相连,后柔性臂与前柔性臂结构相同,肩关节由电机和精密蜗轮蜗杆减速器、水平转盘和垂直转盘组成,电机通过精密蜗轮蜗杆减速器与水平转盘和垂直转盘连接。 3, along a 110kV power line as claimed in claim 2 autonomous walking robot claims, characterized in that said flexible longitudinal arm by shoulder, arm, elbow, arm, wrist and hand composed of front shoulder joint is fixedly connected with the control box, is connected before the front shoulder arm, connected to the front arm and the front arm by the motor-driven reducer constituting a front elbow, connected to the front arm and the hand before the wrist and the front, rear the same flexible arm and the front structure of the flexible arm, shoulder and precision by the motor worm gear reducer, the horizontal and vertical carousel turntable composition, the motor is connected by precision worm gear wheel and the vertical to the horizontal turntable.
  4. 4、 如权利要求2所述的沿110kV输电线自主行走的机器人,其特征在于,所述的驱动装置包括结构相同的后手驱动装置、前手驱动装置和中间手驱动装置,各驱动装置由驱动电机、伞齿轮减速器和驱动轮组成,驱动电机通过伞齿轮减速器与驱动轮的传动轴相连,伞齿轮的输入输出轴呈垂直关系,驱动装置安装在手掌支架上;在跨越线夹、悬垂及跳线时能够打开、实现跨越的驱动轮为中间分离式。 4, along a 110kV power line as claimed in claim 2 autonomous walking robot claims, characterized in that said drive means comprises a drive means FLAC same configuration, and the intermediate drive means before the hand the hand drive means, each driving means by the a drive motor, reduction gear and bevel gear wheels composition, is drivingly connected to the motor through the shaft bevel gear reducer and drive wheels, bevel gear input and output shafts in a vertical relationship, drive means mounted on the palm support; across clamp, and it can be opened depending jumper leap separate intermediate drive wheel.
  5. 5、 如权利要求2所述的沿110kV输电线自主行走的机器人,其特征在于,所述的刹车装置包括结构相同的后手刹车装置、中间手刹车装置和前手刹车装置,刹车装置安装在手掌支架上,该装置由刹车电机,螺旋机构和曲柄滑块机构组成,刹车电机与螺旋机构直接相连,曲柄滑块机构通过一个齿轮与螺旋机构啮合。 5, 110kV power line as claimed in claim 2 autonomous walking robot claims, wherein said brake means includes a same structure as the parking brake apparatus, an intermediate apparatus and a hand brake device before the parking brake, the brake device is mounted the palm support, the device consists of brake motors, and a screw mechanism composed of slider-crank mechanism, directly connected to the motor and the brake screw mechanism, a screw mechanism engaged with the slider-crank mechanism through a gear.
  6. 6、 如权利要求2所述的沿110kV输电线自主行走的机器人,其特征在于,所述的手掌开合装置由螺旋机构和三角形增力机构(26)组成,驱动电机安装在螺旋机构的下部,螺旋机构与三角形增力机构相连,三角形的两个斜边分别装有滑块。 6, along a 110kV power line as claimed in claim 2 autonomous walking robot claims, wherein said opening and closing means by the hand screw mechanism and a triangle-energizing means (26), with a drive motor mounted on a lower screw mechanism connected to the screw mechanism boosting mechanism triangle, the hypotenuse of the triangle are provided with two sliders.
  7. 7、 如权利要求l所述的沿110kV输电线自主行走的机器人,其特征在于,所述的控制装置安装在机器人本体中间的控制箱内,由管理层、规划层和执行层组成,管理层与规划层通过无线信道连接,规划层与执行层通过串行通讯线相连;管理层由地面监控计算机和无线设备组成,地面监控计算机和无线设备组成通过通信线连接;规划层由机器人本体主计算机PC104及图像采集卡,1/0卡,超声传感器,CCD,高速球摄像机及红外热成像仪组成,超声传感器,CCD,高速球摄像机及红外热成像仪通过图像采集卡,1/O卡与计算机PC104连接;执行层由单片机AT89S52、带编码器的电机及驱动模块、限位开关组成,电机通过驱动模块与单片机AT89S52连接,限位开关安装在升降装置和开合装置的两个极限位置处。 7, as viewed along 110kV transmission line l autonomous walking robot according to claim, characterized in that said control device is mounted in the middle of the body of the robot control box, by management, planning and implementation of layer layers, management planning a radio channel connected to the layer, the planning and implementation of layer by layer is connected to the serial communication line; by a ground control computer management and wireless devices composed of ground monitoring computer and a wireless device connected through a communication line consisting of; planning layer host computer by the robot body PC104 and an image acquisition card, 1/0 cards, an ultrasonic sensor, CCD, high-speed ball cameras and infrared thermal imager composition, an ultrasonic sensor, CCD, high-speed ball cameras and infrared imaging devices, through the image acquisition card, 1 / O card and a computer PC104 connection; the AT89S52 executed by the microcontroller layer, and a driving motor with an encoder module, consisting of a limit switch, the motor driving module is connected with the microcontroller via the AT89S52, limit switches mounted on the lifting device at two extreme positions and the opening and closing means.
  8. 8、如权利要求1所述的沿llOkV输电线自主行走的机器人的工作方法,其特征在于,工作方法如下:第一步:机器人上线;第二步:地面监控计算机发出开机控制命令,机器人本体计算机PC104在接收到运行命令后,驱动机器人沿输电线相线行走;第三步:行走过程中,检测装置不断检测前方障碍物的情况,同时高速球摄像机对线路和机器人本体的工作状态进行拍摄,拍到的图像通过无线设备实时传输到地面工作基站,地面工作基站对线路的情况进行判断,决定是否对线路进行维护;同时对机器人本身的工作状态进行监控,决定是否对机器人的运动给予干预;第四歩:机器人检测到前方有防震锤时,由于手掌采用中空设计,因此机器人无需做任何调整,直接爬越;第五步:检测到悬垂线夹时,机器人停止行走,进行调整;首先,使前臂上举直至驱动轮脱 Robot body ground monitoring computer sends power control commands,:; 8, power line as claimed in claim 1 llOkV working method of claim autonomous mobile robot, wherein the working as follows:: First Step Second robot line PC104 computer after receiving the run command, drive the robot to walk along a transmission line phase; the third step: during walking, the detecting means continuously detects the obstacle in front of the case, while the high-speed camera operation state of the ball of the robot body and a line shooting , photographed image transmission by the wireless device in real time to the ground work station, work station ground line to judge the situation, to decide whether to maintain the line; operation state while monitoring the robot itself, the movement of the robot to decide whether the intervention is administered ; fourth ho: when the robot is detected in front of the hammer shock, since the palm hollow design, so without making any adjustments to the robot, directly climbing; fifth step: suspension clamp is detected, the robot stops walking, adjustment; first lift off the drive wheel until the forearm ,然后接通手掌开合装置的驱动电机,使两手掌分开,其开合度要大于障碍宽度;之后,接通后面两只手的驱动电机,使机器人继续行走,当中间手接近悬垂线夹时,停止行走,调节前臂,使线路在两分离驱动轮之间,启动手掌开合装置使两手掌合拢并让驱动轮挂在线上;然后打开中间的手,接通前后两只手的驱动电机,继续行走;当后手接近悬垂线夹时,停止行走,使后手抱线,机器人完成跨越悬垂线夹的任务,继续前行;第六步:检测到直线跳线线夹时,手的脱线和抱线方法与跨越悬垂线夹时一样;首先,前手脱线,调整前臂姿态使前手抓住跳线,然后,中间手脱线,启动前后手的驱动电机使机器人行走;中间手接近跳线线夹时,停止行走,调整前后柔性臂,使中间手抓住跳线,启动行走;当后手接近跳线时,停止行走,后手脱线;用前手 , Then turn the palm of the drive motor of the opening and closing means, so that two hands are separated, the opening degree which is greater than the width of the obstacle; Thereafter, the driving motor is turned back two hands, the robot continues to walk, when the hand approaches the intermediate suspension clamp stopped walking, adjusting the forearm, so that the separation line between the two drive wheels, means that the opening and closing start palm two hands folded and hung on the line so that the drive wheel; then open the middle of the hand, the driving motor is turned back and forth two hands, continue walking; when flip close suspension clamps, stops running, so that hugs the line, the robot task across the suspension clamp, move; sixth step: when the detected straight line jumper clamp, hand off line and the holding line across the same way as when the suspension clamp; first, off-line before hand, the posture of the front arm to adjust the hand grasp the jumper, then the intermediate hands off-line, before and after the start of the drive motor to the hand of the robot walks; chiral intermediate near the jumper clamp, stop traveling, before and after the adjustment of the flexible arm, hand grasp the intermediate jumper, start walking; flip close when the jumper, stop traveling, off-line flip; hand before use 中间手驱动机器人继续行走,越过跳线线夹后,停止行走,调整柔性臂,使后手抓住跳线,完成从直线到跳线的跨越;机器人由跳线到直线的跨越方法与上述过程相同,由于是一个上坡过程,为了使机器人不至于滑下来,需使用刹车装置,当中间手刹车后,打开前手前手抱线后,再打开刹车装置;第七步:检测到转弯跳线时,运动过程与跨越直线跳线不同的地方是柔性臂的姿态除了上下调整外,还需要水平调整,其余完全相同。 Rear intermediate drive the robot hand continue to walk across the jumper clamp, stop traveling, adjustment of the flexible arm, so that flip grasp jumper, spanning from the completion of a straight line to the jumper; Jumper to the robot line across the method of the process described above the same, since the process is an uphill, so that the robot will not slide down, the need to use brake, the parking brake when the intermediate, open the front line hugs before hand, and then open the brake device; seventh step of: detecting the turning jumper , the linear movement of the jumper across different places in addition to the attitude of the flexible arm is adjusted up or down, but also to adjust the level of the rest is identical.
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