| Extra-High Voltage transmission lines is one of the main way for long distance power transmission. Considering the transmission lines are in the wild, in order to guarantee the safety and steady operation of the power lines, it is necessary to inspect it regularly. The traditional inspection ways are labor-tensed, low detection precision, low efficiency and high cost. However, let the inspection robot instead of the traditional inspection way can avoid these shortages and improve automation level on power lines management and maintenance.The research goal of this article is to develop a robot which could moving, climbing and crossing obstacles on the transmission lines, and which could instead of man doing the inspection mission. Firstly, the researches on inspection robot are introduced, especially some typical robot prototypes. Present the design requirements after analyzing the working condition of inspection robot.Considering the condition of the 500 KV transmission lines and the obstacles along the lines, the research group design a new open-close inspection robot, do the kinematics analysis of the robot, develop the continuously crossing strategy, the inchworm crossing strategy and stride crossing strategy. Analysis result shows that the robot is reasonably structured and fit for the inspection work.The control system is an important part of the inspection robot system. A three-layers control system is proposed, which includes supervision and management system on the ground station, robot control, motors directly controlled by actuator. The roles of the upper layer are to receive the inspection images in real-time, conduct the fault detection, monitor the operations of the robot and remotely control robot operations. The roles of the upper layer are to receive the inspection images in real-time, conduct the fault detection, monitor the operations of the robot and remotely control robot operations. The middle layer receives and analyses the commands from the upper layer, then distributes the tasks to individual lower level actuator controllers through CAN bus. Also, developing a control method which can cross obstacles continuously.Experimental study under the typical operating conditions is carried out. To achieve the main function of moving online and obstacle, Generation I prototype is designed. In the indoor environment the experiments of climbing the slope, inch-worm walking are carried out. According to the experimental results, the program of the robot is improved. And Generation II prototype is processed. An experimental system is established in the outdoor. The experiments of walking online, continuous obstacle and stepping obstacle are carried out. The experimental results show that the inspection robot has the developed excellent ability to walk on line and climbing, able to crossing obstacles continuously. And it meets the requirements of and the hole robot system. |
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