Development of a power line Inspection Robot Capable of automatically crossing Obstacles

摘要

According to the characteristics of the transmission line environment and the requirements of the inspection task, a robot mechanism for inspection based on the transformation of the transmission line is proposed. The configuration of the robot and the magnetic online charging device are analyzed. The obstacle surmounting process of typical obstacles is analyzed by using finite state machine. The motion sequence of the robot crossing obstacles is planned and the obstacle crossing test is carried out. The test results show that the mechanism can cross the drainage line, tension clamp and other complex obstacles, which verifies the rationality of the mechanism design and the feasibility of the motion planning. With the transformation of the transmission line environment, the robot can efficiently and quickly cross the typical obstacles.