Abstract
A novel mechanism for 110 kV power transmission line inspection is presented according to the requirements of inspection tasks and characteristics of obstacles on power transmission lines. Its conf...
Highlights
Transmission grids, as strategic assets, need to be operated in a safe, predictable and reliable way
Compared with the traditional manual inspection, transmission line inspection robot is of low cost, safe and reliable, which can be close to the fine inspection and easy to operate and gradually becoming a new research hot topic of line inspection.[1,2]
Adhesion force of the driving wheel can be improved by optimizing the structure of the wheel, and the wheel load is reasonably distributed by planning the posture of the robot
Summary
Transmission grids, as strategic assets, need to be operated in a safe, predictable and reliable way. When the inspection robot encounters a counterweight obstacle, the process of obstacle navigation in the inchworm mode is given as follows: step 1: The robot has both wheels on the conductor, the rear clamp grasps the conductor, arm extents until it is higher than the counterweight obstacle; step 2: By rotating the forearm , the rear one will cross over the obstacle; step 3: With the camera mounted on the rear gripper, the OGWs is located and the rear arm is controlled to grasp the ground wire behind the navigated obstacle. Obstacle navigation in the cankerworm mode is time-saving, but it is easy to be interfered by the ambient environment like the wind or vibration of the OGWs, since it has to drive the robot moving forward with only one arm on line.
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