Design and Application of Inspection System in a Self-Governing Mobile Robot System for High Voltage Transmission Line Inspection

摘要

Design and realization of a self-developed mobile robot for inspecting high voltage overhanging transmission lines is introduced in this paper. The critical technologies involve five parts: self-governing strategy, the integrated detection based on infrared and visible imaging system, the infrared electric-magnetic system for nondestructive testing of obstacles such as the transmission line joint and insulators with specified arm-and-hand mechanism, intelligent detection with GPS-GIS and the inspection management system. Dual redundant design is also adopted to enable operation both under remote manual control and self governing compliant to different working conditions. Theoretical analysis and imitating experiments are carried out and the field tests results are also given, which demonstrate that the inspecting strategies proposed are effective and feasible to be put into practice and can be a reliable reference for the design of other special robot systems such ice breaking robot, insulator cleaning robot and so on.