A slip detection device and slip control method for a high-voltage line inspection robot

Abstract

The invention discloses a slip detection device and a slip control method of a high-voltage line patrol robot. The slip detection device comprises a pair of pressing wheels, annular array magnetic steel, a Hall sensor, an inclination angle sensor and an acceleration sensor. The slip detection device can measure the inclination angle and the acceleration of the line patrol robot and the linear speed of the pressing wheels can be converted into a level signal of the Hall sensor to be output. According to the slip control method, the ratio between the speed of walking wheels and the speed of the pressing wheels of the line patrol robot can be used for judging the slip state. A corresponding control strategy is used for preventing the slip phenomenon from occurring and the acceleration sensor and the inclination sensor are used for judging whether the line patrol robot is in an uphill slip state and a downhill loosening state or not respectively so as to provide more bases for a pressing motor control strategy. The slip phenomenon of the line patrol robot in the line patrol process can be rapidly processed with the slip detection device and the slip control method. The line adaptability of the line patrol robot is improved and energy consumption of the line patrol robot is reduced.

Description

technical field [0001] The invention belongs to the field of electric equipment, and relates to a slip detection device and a slip control method, in particular to a slip detection device and a slip control method of a high-voltage transmission line inspection robot. Background technique [0002] The traditional transmission line inspection method is mainly based on manual inspection. The inspection efficiency is low, the labor intensity is high, the workers often work in the field, the working environment is harsh, and the inspection of the transmission line stalls across mountains, dense forests, and large rivers is difficult. bigger. The efficiency of helicopter inspection is higher, but its economic benefit is poor, and it is easy to ignore the slight damage of the transmission line. The use of inspection robots can overcome the above shortcomings. Its inspection efficiency is high and the imaging effect is good. It is an inevitable trend of the combination of robot tec...

AI Technical Summary

Problems solved by technology

The control efficiency of this method is very low, it is difficult to judge the slight slipping phenomenon, and the pan-tilt camera needs to monitor at all times, which hinders the normal line inspection of the pan-tilt camera

There may also be an over-tightening situation. When an excessive pressing force is applied when climbing or descending a slope, although the purpose of not slipping is achieved, the excessive pressing force will cause the robot to walk with greater resistance, and the robot's walking motor and pressure The tight motor will run at high load, which reduces the service life of the motor and mechanical parts, and increases the energy consumption of the robot

In addition, there is a method of controlling the pressing force by using the tilt angle of the robot as a condition. When the angle of the robot climbing or descending is large, the pressing motor of the inspection robot is given a larger pressing force. When the angle When it is smaller, a smaller pressing force is given, but this method ignores the specific conditions of different line surfaces, so slipping or over-tightening may still occur, and its ability to adapt to lines is not strong

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