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Motion control method of high-voltage transmission line inspection robot

A line inspection robot, high-voltage transmission line technology, applied in two-dimensional position/channel control and other directions

Inactive Publication Date: 2012-06-13
李志愿
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the improvement of robot motion stability and accuracy is an indispensable technical link. At present, there is no effective control structure that can make the line patrol robot realize the online motion stably and accurately.

Method used

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  • Motion control method of high-voltage transmission line inspection robot
  • Motion control method of high-voltage transmission line inspection robot
  • Motion control method of high-voltage transmission line inspection robot

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Experimental program
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Embodiment Construction

[0053] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0054] The action control method of the high-voltage transmission line inspection robot of the present invention, the action execution unit includes the lifting / lowering execution module of the action manipulator, the parallel movement execution module of the action manipulator, the rotation execution module of the robot, and the rotation execution module of the action manipulator. Communicate and coordinate through the serial port.

[0055] The action response layer is decomposed systematically, and the mathematical model of joint motion is given.

[0056] The obstacle-crossing process of the robot mainly consists of the following four types of actions:

[0057] 1) The rise / fall of the robotic arm;

[0058] 2) Parallel movement of the mechanical arm;

[0059] 3) The robot rotates around the fixed arm;

[0060] 4) Rotation of the robotic a...

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Abstract

The invention discloses a motion control method of a high-voltage transmission line inspection robot. A motion reaction unit comprises an ascending / descending execution module of a motion mechanical arm, a parallel movement execution module of the motion mechanical arm, a rotation execution module of the robot and a rotation execution module of the motion mechanical arm. The invention provides a robust control law for four kinds of basic walking motions of the robot; and through the method provided by the invention, the walking autonomy and stability of the inspection robot are improved, and the robot can fulfill the control target more quickly and stably through the control law.

Description

technical field [0001] The invention belongs to the technical field of line inspection robot control, and in particular relates to an action control method of a high-voltage transmission line inspection robot. Background technique [0002] Power transmission lines and their tower accessories are subject to material aging, constant tension, electrical flashover, etc., resulting in wear, strand breakage, and corrosion. If it cannot be repaired in time, the original small damage and defects may cause destructive accidents, cause large-scale power outages in the power grid, and cause huge social and economic losses. The use of robots to patrol the line has the advantages of close-range inspection, high precision, no inspection blind spots, and reasonable cost. Therefore, it is an ideal choice to develop and develop advanced line inspection robot technology. [0003] In the late 1980s, Japan, the United States, Canada and other developed countries successively carried out resea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 李志愿
Owner 李志愿