Key Technology Research on the Inspection Robot for High-Voltage Transmission Lines

The paper introduces a kind of inspection robot for high-voltage transmission lines from two parts:Mechanical structure and control system. Three arms is adopted in the mechanical structure, while the control system used a hierarchical modular control scheme is designed to a kind of three-layer control structure including the ground monitoring layer, the task decision layer and the action execution layer. The PC/104 and AT89C51 is used for the main control computer, and the MX-servo is used for the power drive components. Except for describing the robots working process of crossing obstacles in detail, the paper also introduces the responsibilities, hardware components, software design process of the control system. From the simulation experiment on motion control system using Matlab/Simulink, we can conclude that the motion control system of the robot has high-stability and reliability and meet the design requirements.

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Research of Centroid Balance of the Inspection Robot for High-Voltage Transmission Lines

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.33-37.1477 ◽

2008 ◽

Vol 33-37 ◽

pp. 1477-1482 ◽

Cited By ~ 1

Author(s):

Jian Jin ◽

Ting Yu Zhang ◽

Guo Xian Zhang

Keyword(s):

High Voltage ◽

Transmission Lines ◽

Virtual Prototyping ◽

Balance Method ◽

Power Cost ◽

Inspection Robot ◽

Mass Eccentricity ◽

New Type ◽

High Voltage Transmission ◽

Proper Movement

According to the requirements of the power department, a new type of inspection robot that works along ground wires is developed in this paper. The robot can navigate counterweights, clamps and particular the towers autonomously. The locomotion principle of tower-navigation is presented. In order to decrease the mass eccentricity of the robot, a centroid balance method is proposed. Virtual prototyping technical is used to validate the centroid balance method. It proved that the proper movement of the electric box can adjust the robot centroid distribution efficiently. Driven torque and the power cost of the whole system both decrease a lot. And the robot works more safely.

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Design and Simulation on Inspection Robot for High-Voltage Transmission Lines

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.615.173 ◽

2014 ◽

Vol 615 ◽

pp. 173-180 ◽

Cited By ~ 2

Author(s):

Yong Gang Wang ◽

Hua Dong Yu ◽

Jin Kai Xu

Keyword(s):

Motor Control ◽

Control System ◽

High Voltage ◽

Transmission Lines ◽

Control Subsystem ◽

Mechanical Structure ◽

Inspection Robot ◽

Motor Control System ◽

High Voltage Transmission ◽

And Control

In view of the deficiencies of current inspection methods on high-voltage transmission lines, the paper introduces a kind of inspection robot from two parts of mechanical structure and control system. A three-arm structure is adopted in the mechanical structure, while the control system is composed of the supervisory control subsystem on the ground and the body control subsystem. The PC/104 and AT89S52 are used for the master controller and control chip, and the BLDC is used for the power drive component. Through the simulation analysis by Matlab/Simulink, the anti-interference performance and speed control performance of the walking wheel motor control system is explored. Besides, conclusion that the walking wheel motor control system meets the requirement of speed is drawn.

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Obstacle distance measurement based on binocular vision for high-voltage transmission lines using a cable inspection robot

Science Progress ◽

10.1177/0036850420936910 ◽

2020 ◽

Vol 103 (3) ◽

pp. 003685042093691

Author(s):

Le Huang ◽

Gongping Wu ◽

Jiayang Liu ◽

Song Yang ◽

Qi Cao ◽

...

Keyword(s):

High Voltage ◽

Binocular Vision ◽

Transmission Lines ◽

Distance Measurement ◽

Estimation Accuracy ◽

Depth Information ◽

Disparity Map ◽

Inspection Robot ◽

High Voltage Transmission ◽

Inspection Robots

Obstacle distance measurement is one of the key technologies for cable inspection robots on high-voltage transmission lines. This article develops a novel method based on binocular vision for extracting the feature points of images and reconstructing 3D scenes. The proposed method seamlessly incorporates camera calibration, dense stereo matching, and 3D reconstruction. We apply a novel calibration method to acquire intrinsic and extrinsic parameters and use an improved Semi-Global Matching (SGM) algorithm based on the least squares fitting interpolation to refine the basic disparity map. Based on the depth information of the optimized disparity map and the principle of binocular vision measurement, a model is established to estimate the distance of an obstacle from the cable inspection robot. Extensive experiments show that the proposed method achieves an estimation accuracy of less than 5% from 0.5 m to 5.0 m, offering extremely high distance estimation accuracy and robustness. The study improves the autonomy and intelligence of inspection robots used in the power industry.

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