Navigation, location and non-collision obstacles overcoming for high-voltage power transmission-line inspection robot

摘要

This paper proposed the navigation, location and non-collision obstacles overcoming for high-voltage power transmission-line inspection robot. Its key points are: (1)It has the navigation and location of the global environment based on GPS-TLDDB(Transmission Line Dynamic Data Base). (2)It has the local environmental navigation and location based on machine vision. By identifying the obstacles and estimating the distance between the robot and the upcoming obstacle, the obstacles near the robot relative distance can be obtained. (3)Use multi-electromagnetic sensors for exact location of obstacles. (4)Skid inspection and identification is also used. All the methods above have been applied successfully. Operating photos and the pictures taken by the robot during the autonomous inspection robot was running on the alive circuit are shown in this paper.