| With the process of urban power transmission line into ground being accelerated andthe increase of potential safety concerns on these lines, the regular inspection is necessaryto improve the reliability of power transmission. Based on the continuous progress inmobile robotics technology, it is the time to develop a diminutive mobile inspection robotwhich can take over the task by manual detection. In this paper, detailed discussions,mainly directing at the development of inspection robot in small-sized cable tunnel, arepresented from theory to practice.The research scenario of the inspection robot both at home and abroad is introducedfirstly. Through the analysis over the relative demerit of structure and performance ofseveral typical inspection robots, the main research contents about cable tunnel inspectionrobot are put forward, such as mechanical structure, navigation and positioning,communication and fault detection and so on.In view of the actual situation of cable tunnel and the operation state of robot, themechanical structure of a small cable tunnel inspection robot has been designed. Also, thekey components of the robot, including walking, obstacle-surmounting and controllablepan-tilt mechanism are described briefly. After the analysis over kinematics and dynamicson the robot, the path and method of obstacle-surmounting are referred to us. With the aidof RecurDyn software, the movement of robotic process of walking, climbing and crossingconvex platform were simulated, and the robotic mechanical structure was verifiedreasonably. In addition, the selection of key components was checked.According to the special requirements of the robotic control system and workingprocess, the hardware and software of the control system were designed; besides thecomposition of the system hardware has been explained particularly. With the analysis overthe characteristics of control system program, the client/server transmission scheme, thedata collection method and the TCP/IP transport protocol were confirmed between robotand ground control unit. Besides, the functions of real-time image acquisition, wirelesstransmission and receiving, image displaying, etc. also have been realized by using theprogramming software----LabVIEW.Through establishing a test environment of inspection robot, the robot’s performance of walking, climbing, crossing the small obstacles and convex platform are confirmed to bebasically reliable. Moreover, the controllable pan-tilt can be rotated flexibly, accurately andquickly. The wireless communication and control system have proved to be unhindered andstabilized at the same time. The experimental results show that the robot is not only able tomeet the requirements of cable tunnel inspection, but also lay a foundation of theory andexperiment for further more deep and micromesh researches. |
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