中文摘要：

对架空高压输电线路巡线机器人电磁导航方法进行了研究。综合多组电磁传感器阵列的模拟电压信号获得机器人和输电线路相线或线上障碍物的相对位置。实现了机器人自主越障,智能导航的功能。由于电磁传感器输出信号微弱,在线工作时容易受到复杂外界环境影响,故对信号处理时,设计IIR数字滤波器对经过放大器的信号进行选频,滤除异于输电工频的干扰信号。并在PC104处理器中完成IIR滤波器的程序设计,满足软件系统实时性。试验效果显示,该方法结构简单、效果显著。

英文摘要：

The electromagnetic navigation method for the power transmission line inspection robot is studied. By using the Voltage information from some electromagnetic sensor arrays, the robot＇s relative position to the power line or the barriers on the line can be obtained. The robot can realize automatic barriers passing and intelligent navigation. Since the electromagnetic sensor＇s output signal is weak and is subject to the influence of the outside environment when it works, to solve the problem, the IIR digital filter was designed to choose the amplified signals in order to filter the different frequency disturbances. The IIR filter program was also designed in the PC104 processor, which enables the software to perform in a real-time manner. Tests prove the method simple and effective.