Research Of Motion Control System For Power Transmission Line Inspecting Robot Based On ARM

The inspecting robot is an automatic inspection instrument for power transmission line. It is mainly used in inspecting various failures of power transmission line. The application of robot in this field may decrease the labor, lower the cost, improves the patrolling quality.This paper mostly focuses on the hardware and encapsulation of the robot motion controller. The controller adopts a 32-Bit ARM controller LPC2210 made by PHILIPS as the central core and uses the LMD18245 IC as the motor driver. We designed the controller and motor driver schematic and PCB layout by ProtelDXP and finished the security encapsulation in order to protect the system from being influenced by EMI and bad weather in outdoor environment. The controller has strongpoint as follow: easy to extend, highly integrated and reliable performance.