The invention discloses an obstacle avoidance gait planning method suitable for an angle steel tower climbing robot, and relates to the technical field of electric power operation climbing robots, and the method comprises the steps: determining the position range of each obstacle avoidance region formed by each obstacle on a main material according to a three-dimensional model of an angle steel tower; according to the positions of the starting point and the ending point on the main material and the structure of the robot, the step length of each step of the robot and the clamping positions of the upper clamping jaw and the lower clamping jaw of each step on the main material are determined, the mechanical structure characteristics of the climbing robot and angle steel tower model information are efficiently utilized, redundant instruments and equipment are prevented from being loaded, and the working efficiency is improved. According to the method, automatic obstacle avoidance gait planning of the angle steel tower climbing robot is achieved, the stability and reliability of gait planning actions can be guaranteed while the strong obstacle crossing ability and the high climbing efficiency are achieved, and therefore the manpower inspection cost can be greatly saved, the maintenance efficiency is improved, and safe and reliable operation of a power transmission system is guaranteed.

    本发明公开了一种适用于角钢塔攀爬机器人的避障步态规划方法,涉及电力作业攀爬机器人技术领域,该方法:根据角钢塔的三维模型,确定各个障碍物构成的各个避障区域在在主材上的位置范围,再根据起点和终点在主材上的位置和机器人结构,确定机器人每一步的步长,以及每一步的上夹爪和下夹爪在主材上的夹持位置,高效率利用攀爬机器人自身机械结构特性以及角钢塔模型信息,避免负载冗余仪器设备,实现角钢塔攀爬机器人的自主避障步态的规划,在具备强越障能力和高攀爬效率的同时,还能够保证步态规划动作稳定性及可靠性,从而能大大节省人力巡检成本,提高检修效率,并保障输电系统安全可靠运行。


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    Title :

    Obstacle avoidance gait planning method suitable for angle steel tower climbing robot


    Additional title:

    一种适用于角钢塔攀爬机器人的避障步态规划方法


    Contributors:
    ZHANG JINFENG (author) / ZHANG TIANZHONG (author) / DU HAIBO (author) / GE ZHANZHAN (author) / XIE FENG (author) / CHENG ZHIYU (author) / LIU JUN (author) / WANG SHENGHE (author) / HUANG JIE (author) / LIU DAPING (author)

    Publication date :

    2022-11-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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