Slipping control of flying-walking power transmission line inspection robot using ANFIS

2021 ◽  
Author(s):  
Zhaojun Li ◽  
Jin Lei ◽  
Xinyan Qin ◽  
Jie Zhang ◽  
Bo Jia ◽  
...  
Keyword(s):  
Transmission Line ◽  
Power Transmission ◽  
Power Transmission Line ◽  
Inspection Robot

A multi-unit serial inspection robot for power transmission lines

2019 ◽  
Vol 46 (2) ◽  
pp. 223-234 ◽  
Author(s):  
Guanghong Tao ◽  
Lijin Fang
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Power Transmission ◽  
Power Transmission Line ◽  
The Novel ◽  
Power Transmission Lines ◽  
Obstacle Crossing ◽  
Content Type ◽  
Inspection Robot ◽  
Serial Robot

Purpose The purpose of this paper is to introduce a robot mechanism designed for power transmission line inspection. The focus for this design is on obstacle-crossing ability with a goal to create a robot moving and crossing obstacle on not only the straight line but also the steering line. Design/methodology/approach A novel four-unit tri-arm serial robot mechanism is proposed. Every novel unit designed for pitching motion is based on parallelogram structure, which is driven by cables and only one motor. There is gripper-wheel compounding mechanism mounted on the arm. The prototype and obstacle environments are established, and the obstacle-crossing experiments are conducted. Findings The novel unit mechanism and robot prototype have been tested in the lab. The prototype has demonstrated the obstacle-crossing ability when moving and crossing fundamental obstacles on the line. The experimental results show that the robot mechanism meets the obstacle-crossing requirements. Practical implications The novel robot technology can be used for defect inspection of power transmission line by power companies. Social implications It stands to lower the intense and risk of inspection works and reduce the costs related to inspection. Originality/value Innovative features include its architecture, mobility and driving method.

The Development of Underground Power Transmission Line Inspection Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1127-1132
Author(s):  
Shu Feng Tang ◽  
Shi Hui Chen ◽  
Peng Zhou ◽  
Biao Wang ◽  
Xiao Hong Guo
Keyword(s):  
Transmission Line ◽  
Power Transmission ◽  
Control Mode ◽  
Power Transmission Line ◽  
Inspection Robot ◽  
Inspection Work ◽  
Left And Right ◽  
Environmental Adaptability ◽  
Communication Control ◽  
And Storage

The small underground power transmission Line inspection track robot is developed. The robot is composed of left and right track walking mechanisms driven independently and camera tripod head with better environmental adaptability and flexibility of movement. The robot is controlled by wireless remote control mode. The portable handheld controller is also developed with communication, control, display and storage function. The inspection work experiment at the cable room of 110kV underground substation has been done using this robot. The result indicates that the inspection robot has better flexibility of movement, better reliability of communication and better convenience of operation, which is the better method for underground power transmission Line inspection.

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