基于输电线路巡视机器人过塔需求分析，提出一种新的穿越式机器人过塔方式。介绍了穿越式巡视机器人的系统组成，阐述了实现机器人穿越式过塔的关键技术。在模拟试验平台上将穿越式过塔方法与传统的跨越式越障方法进行比对，结果表明：穿越式巡视机器人能自主穿越地线上防振锤、悬垂线夹等常规障碍物，具有过塔速度快、智能程度高、自主性强等优点。指出目前穿越式巡视机器人无法通过线路上如风筝、条形广告等悬挂物，有待今后作进一步的研究。%Based on analysis on requirement for power transmission line patrol robot passing through tower,a kind of new pass-through way was proposed.System composition of pass-through patrol robot was introduced and key technology for re-alizing pass-through-tower was stated.Comparison between pass-through-tower mode and traditional leap-type obstacle crossing mode was conducted on simulation experimental platform.Results indicate that the pass-through patrol robot is able to autonomously pass through those conventional barriers such as stockbridge dampers and suspension clamps on ground wires and it is provided with advantages of fast pass-through speed,high intelligence degree and strong autonomy,and so on. Meanwhile,it is pointed out that the pass-through patrol robot could not pass through suspensions such as kites,strip-type advertising boards,and so on at present which is a problem to be further studied in the future.
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