| The safe operation of high-voltage transmission lines is an important guarantee for the stability of the transmission system.However,it will be damaged by strand breaks,abrasion,corrosion,etc.due to the natural environment such as wind,frost,rain and dew,and its own tension,and regular inspections will be required to troubleshoot.The high-voltage transmission lines are located at high altitudes,often crossing mountains and rivers,crossing river buildings,etc.There are various restrictions on the existing inspection methods such as manual,helicopter,and drone.The inspection of transmission line inspection robots has become a new development trend.The line-tracking robot carries detection equipment on the high-voltage transmission line to perform short-range detection,and it needs to cross various obstacles such as gold fittings and towers on the line.Therefore,it is of great significance to study the control system to ensure the walking and obstacle crossing of the line-tracking robot.The main research work is:(1)Analyzed the tower line system and size characteristics of high-voltage transmission lines including various hardware,and analyzed the movement and kinematics of the robot across various hardware and corner towers.(2)The key action process of the robot’s obstacle crossing process is studied,and an autonomous obstacle crossing control scheme based on multi-sensor cooperation and non-offline attitude adjustment is adopted as the core.(3)The control platform of the line-following robot was set up,the control program was compiled,and the robot model was built in the physics engine simulator V-REP that can simulate sensors,and the obstacle crossing control process was simulated according to the control program logic.The simulation shows that the line-tracking robot runs smoothly and can effectively span various fittings and towers. |
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