Research On Passive Obstacle-obstacle And Inspection Of High-voltage Line Inspection Robot

In this paper,the method of identifying and overcoming obstacles on the high-voltage transmission line inspection robot is studied.Based on the existing walking mechanism,a new type of passive obstacle crossing method is proposed.The passive obstacle-block structure is designed and the prototype is processed.Through the analysis of the high-voltage line and the obstacle environment,the relevant mathematical model is established,and the statics and kinematics and dynamics in the process of obstacle crossing are simulated.Demonstrating the reliability of the passive obstacle-obstructing disc structure and the stability during the obstacle crossing process.The main research contents of this paper are as follows:First,through the analysis of the characteristics of high-voltage lines and obstacles,combined with the domestic and international status of the inspection robot and the summary of the obstacle-obsisting methods,Based on the existing walking mechanism,the structural design of the passive obstacle-obscuring disc was completed.At the same time,the related parameters of the inspection robot and the determination of key components were introduced.The prototype of the obstacle plate was sampled and verified by simple manual experiments.Second,through the mechanical calculation of the key components of the obstacle plate and the calculation of the kinematic equation of the robot determined the rationality of the obstacle crossing program.By establishing the static model of the inspection robot before and after the obstacle,the stress and strain of the robot under different motion states and the deformation of each member are analyzed,and the reliability of the design of the obstacle structure is verified.By establishing a kinematic model of the patrol robot at constant speed and in the shifting state,combined with the characteristics of the flexible form of the high-voltage line,simulation analyzes the change of the center of mass of the whole machine,the center of the obstacle,the centroid of the pressure roller and the spring force of the spring in the process of obstacle crossing in two different states.The comparison of the results verifies the stability of the robot in different states,and raises related problems,which provides a basis for the improvement of the subsequent structure.Thirdly,taking the anti-vibration hammer as an example,the related process of visual inspection is introduced,and the image captured by the camera and the image of the complex background under laboratory conditions are processed.The template matching method is used to identify the feature and determine A visual method for detecting high voltage line environments.The passive obstacle can effectively reduce the energy consumption of the inspection robot,increase the stability of the online walking,and improve the reliability and running time of the inspection robot.The identification of obstacles enables the inspection robot to identify obstacles and ice cubes during deicing in winter,which is beneficial for deicing operations.