An autonomous inspection robot for high voltage bundled transmission line and its application

摘要

This paper proposes a type of autonomous inspection robot system for(ultra) high voltage bundled transmission line,including an autonomous inspection robot,base station,backend management system.The design of mechanical structure,aiming at structural features of conductor spacer and grading ring and geometric features of lines carrying capability,makes the robot clear every obstacle on line smoothly,realizes an autonomous inspection through whole course.The key techniques include the inspection robot's mechanism,the design of control system,autonomous inspection system basing on electromagnetic navigation and machine vision.A typical application of autonomous inspection robot was carried out in this paper to verify the practicability of the autonomous inspection robot system based on the running tests in different working conditions.