摘要： 传统高压输电线路巡检机器人智能化程度低、作业不稳定。为此，提出一种基于规则的专家控制系统。给出系统的基本结构和知识库，利用VC++及CLIPS语言的混合编程方法设计推理机，对机器人进行运动规划，并建立规则库，将机器人运行过程中产生的事实与规则库中的规则匹配，以触发相应的动作。实验结果验证了该系统的有效性。

关键词: 巡检机器人, 专家系统, 知识库, 推理机, 混合编程, 规则库

Abstract: Traditional inspection robots on high voltage transmission line have low intelligence and can not move steadily. In order to solve the problem, this paper proposes an expert control system based on rules. It includes the structure of the expert system, the design method of knowledge base, and uses a hybrid programming method of Visual C++ and CLIPS to build the inference engine. A motion planning for robots needs to be made, and a rules base established afterwards. Facts produced in the process of operation are taken to compare with these rules until they find the matched ones. Then the robot acts according to the matched rules. Experimental results verify the feasibility of this system.

Key words: inspection robot, expert system, knowledge base, inference engine, hybrid programming, rule base

中图分类号: 

• TP18