架空电力线路巡线机器人的研究综述

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张运楚, 梁自泽, 谭民. 架空电力线路巡线机器人的研究综述[J]. 机器人, 2004, 26(5): 467-473.. ZHANG Yun-chu, LIANG Zi-ze, TAN Min . Mobile Robot for Overhead Powerline Inspection-a Review. ROBOT, 2004, 26(5): 467-473..

摘要回顾了国内外架空电力线路巡线机器人的研究现状，分析了几种巡线机器人的结构特点及存在的问题，详细探讨了巡线机器人避障、工作电源及线路故障探测等关键技术．最后，展望了架空线路巡线机器人的发展趋势和应用前景．

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	张运楚
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	张运楚
	梁自泽
	谭民
	张运楚
	梁自泽
	谭民

关键词 ：巡线机器人, 架空电力线, 故障探测, 避障, 巡线机器人, 架空电力线, 故障探测, 避障, 巡线机器人, 架空电力线, 故障探测, 避障

Abstract：This paper first reviews the development of mobile robot for overhead powerline inspection at home and abroad. Then, several typical inspection robot structures, their advantages and drawbacks are analyzed, and key technologies such as obstacle avoidance, power supply, fault detection methods are discussed too. Finally, the development trend and the application perspective of overhead powerline inspection robot are presented.

Key words： inspection robot overhead powerline fault detection obstacle avoidance inspection robot overhead powerline fault detection obstacle avoidance

收稿日期: 2004-03-30

TP24

基金资助:国家863计划资助项目（2002AA420110-4）．

作者简介: 张运楚（1968- ），男，博士研究生．研究领域：机器人控制，机器视觉．
梁自泽（1963- ），男，硕士，副研究员．研究领域：机器人控制，电力系统自动化技术．
谭民（1962- ），男，博士，研究员，博士生导师．研究领域：机器人控制，多机器人系统，系统可靠性及故障诊断．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2004/V26/I5/467

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