Study On Inspection Robot State Detection And Obstacle Navigation Planning Technology

As a mobile platform that can replace manual line inspection,the inspection robots can significantly improve efficiency of inspections and reduce the labor intensity of workers.However,because of the complex structure of the power transmission line,it is difficult for the robot to perform autonomous inspections in the face of various obstacles of line.Therefore,the research of state inspection and obstacle navigation planning technology for inspection robots is one of the key technologies to achieving robot autonomous operation.Combined with investigating of the current development situation of inspection robot state detection and obstacle navigation planning technology at home and abroad,using distributed interactive motion control structures,applying multi-sensor information fusion technology to inspection robot state detection and obstacle navigation planning,a global environment line recognition and positioning model,a partial obstacle recognition model,and a self-state detection system were designed.According to the information of state detection,the type of obstacle and position of the robot were accurately identified,which provides guidance conditions for realizing autonomous obstacle avoidance of the robot.According to robot environment identification and positioning model and robot pose,combined with the theory of finite state machines,through the discretization and fusion of robot state detection information,a finite-state machine for overcoming obstacles movement with state detection information as the migration condition was established.A detailed obstacle navigation planning and finite state machine was designed for the inspection robot crossing the shockproof hammer,suspension clamp,and climbing across the tension tower.Based on the above work,the accuracy of the robot state detection system and the rationality of obstacle navigation planning were verified through simulation analysis and experiments.In this paper,the research on the inspection robot state detection and obstacle navigation plarning technology has improved the accuracy of inspection robot state detection and the reliability of obstacle navigation planning.It has a good reference and guidance significance for the design of similar robot state detection systems and the planning of obstacle navigation planning.