| Inspection robot for high-voltage overhang transmission lines, a special robot to replace or assist of manual inspection, has great application prospects. Nowadays, most domestic and overseas researches in this area are focusing on two types of mobile inspection robots that work along phase line and ground line, both of which adopting crossing-obstacle way.These two inspection robots not only need further technically study, but also have low inspection efficiency. Even they have potential safety risk when they are crossing the obstacle. In accordance with the user requirements, a type of inspection robot system is presented in which the inspection robot can pass through those barriers along the ground line. It can transform the obstructed-obstacle (damper and suspension clamp) to unobstructed-obstacle on ground line. And a changing-curvature bridge has been designed to connect the ground lines of two sides of tension tower, which makes the robot roll through various obstacles on the ground line. Based on this solution, several key technologies have been systematically studied in this paper. The main research content and innovation are presented as follows:Based on the characteristics of current high-voltage ground line environment, a transformation plan on the ground line structure is proposed. The measurement-and-control platform for the inspection robot passing through the obstacles is designed, mainly including the body mechanism and control system. The control system software of the inspection robot is developed, including the monitoring software of the mobile base station and the body control software of the inspection robot. Both of remote control and autonomous inspection have been achieved.The stress and motion of the walking wheels of inspection robot have been studied. Making use of the kinematic relation between the pressing wheel and walking wheel and related kinematic principles, the mathematical model of slippage identification of walking wheel has been established. The issues of slippage degree have been studied. The qualitative relationship of the pressing force increment that needed for controlling slippage and the slippage degree increments and the qualitative relationship with the line slope have been analyzed. Based on these relationships, the fuzzy controller has been designed. Experimental results show that slippage identification method is correct and effective; slippage fuzzy controller can effectively restrain the occurrence of slippage and improve the efficiency of the robot inspection.Based on the operating environment of inspection robot, global environment identification and positioning which based on tilt sensors, GPS and GIS-Line Prior Information Model have been proposed, thus rough positioning of inspection robot and line environment recognition have been achieved; partial environment identification and positioning on the basis of the encoders, ultrasonic sensors,monocular machinevision and hall proximity detector has been proposed. It realized identification and positioning for obstacles from roughly to meticulously. The relevant models and algorithms of two methods of environment identification and positioning have been presented. In order to improve the reliability of identification of the inspection robot, the array of ultrasonic sensors is designed by using of the geometry and spatial layout of post-transformed damper, suspension clamp and the strain bridge. By the ultrasonic sensor array, these three obstacles are tested, and the signal characteristics are analyzed, and BP neural network is designed. Using neural networks signal information of the ultrasonic sensor array are fused to achieve classification and identification of the three obstacles. The neural network simulation results from test samples show that, BP neural network can accurately identify the three obstacles.The crossing-obstacle inspection robot online tasks have been studied. The behavior-based control method has been proposed to realize global autonomous mobile control of inspection robot. And the nine basic behaviors of inspection robot is defined. The behavior of ballistic passing obstacle is researched and designed by the statemachine. And the arbiter of basic behaviors is designed by fixed priority. By analyzing the unusual circumstances that the inspection robot may encounter, the method of motion designing is proposed to enhance the ability of the inspection robot to adapt to dynamic environment. A variety of actions, arbiters and schedulers have been designed and achieved. The tests state that behavior-based control method make the inspection robot carry out autonomous behavioral control when working online, with a certain degree of intelligence.The experiment has been done for the measurement and control platform and control method, and the prototype has been applied on the actual lines. The results show that the inspection robot system is correct, and the control method is accurate and effective, improving the operating efficiency and the safety. |
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