Electromagnetic sensor navigation system of robot for high-voltage transmission line inspection

CHEN Zhong-wei; XIAO Hua; WU Gong-ping

doi:10.13873/j.1000-97872006.09.011

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Electromagnetic sensor navigation system of robot for high-voltage transmission line inspection

更新时间：2025-09-11

- Electromagnetic sensor navigation system of robot for high-voltage transmission line inspection
- Issue 9, Pages: 33-35+39(2006)
- 作者机构：
  
  1. 武汉大学动力与机械学院
  2. 武汉大学动力与机械学院,湖北,武汉,430072
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872006.09.011
  CLC： TP242
- Published：2006
- 稿件说明：
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[1]陈中伟,肖华,吴功平.高压巡线机器人电磁传感器导航方法[J].传感器与微系统,2006(09):33-35+39.

CHEN Zhong-wei, XIAO Hua, WU Gong-ping. Electromagnetic sensor navigation system of robot for high-voltage transmission line inspection[J]. 2006, (9): 33-35+39.
[1]陈中伟,肖华,吴功平.高压巡线机器人电磁传感器导航方法[J].传感器与微系统,2006(09):33-35+39. DOI： 10.13873/j.1000-97872006.09.011.

CHEN Zhong-wei, XIAO Hua, WU Gong-ping. Electromagnetic sensor navigation system of robot for high-voltage transmission line inspection[J]. 2006, (9): 33-35+39. DOI： 10.13873/j.1000-97872006.09.011.

摘要

提出了一种采用电磁传感器为高压巡线机器人沿输电线路相线进行导航的方法。该方法根据相对值检测原理

通过合理布局的传感器测头阵列

将空间划分为不同的区域

根据传感器的输出

经过特定的算法

即可判断高压导线相对于机器人的空间位姿。实验室及实际线路带电运行实验表明:电磁传感器工作可靠

导航方法切实可行

稳定识别精度为10 mm

满足实际线路带电运行要求。

Abstract

A method of electromagnetic sensor navigation of inspection robot for high-voltage transmission line is proposed.This method adopts an theory of comparatively detection

plots out the space into different areas by sensor arraying suitably

figurs out the position and direction of the robot by some specific arithmetic based on the electromagnetic sensor output.Experiment in the laboratory and on a locale high-voltage transmission line indicates that the electromagnetic sensor can work reliably

the method of navigation is feasible

it’s precision is 10mm

and the system can satisfy the requirements of practical use.

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Keywords

references

架空电力线路巡线机器人的研究综述 [J]. 张运楚,梁自泽,谭民. 机器人 . 2004(05)

电磁感应传感器在喷雾机器人导航中的应用 [J]. 宋健,张宾,于曙风. 传感器技术 . 2004(07)

移动机器人导航技术现状与展望 [J]. 王志文,郭戈. 机器人 . 2003(05)

电磁传感器的分析与设计 [J]. 张立斌,孟兆锋,何继伟,姚玉环. 佳木斯大学学报(自然科学版) . 1999(03)

具有自动越障功能的高压线巡线小车 [J]. 吴功平,戴锦春,郭应龙,于俊清,袁文华. 水利电力机械 . 1999(01)

智能传感器及其应用[M]. 化学工业出版社 , 高国富等编著, 2005

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