A method for crossing obstacles for an overhead power line inspection robot

Abstract

The invention provides a method for obstacle crossing of a robot for overhead power line inspection. The method comprises the following steps: obtaining video navigation information, judging whether to encounter an obstacle, judging whether to adopt an automatic mode, judging whether the encountered obstacle is a pole-tower type obstacle or not, crossing the pole-tower obstacle, feeding the obstacle crossing situation back, judging whether the obstacle crossing is successful or not, crossing a shake-proof hammer obstacle, adjusting an obstacle crossing action, performing remote control to cross the obstacle and completing the obstacle crossing action. The method for obstacle crossing of the robot for overhead power line inspection, provided by the invention, enables the whole system to be high in the degree of automation, stable in control and good in real-time video communication effect, so as to realize the purpose of inspection for a line damage situation and an offline channel, greatly lower the labor force and the cost for line inspection, and achieve high practical value.

Description

technical field [0001] The invention belongs to the technical field of power line inspection, in particular to an obstacle-crossing method for an overhead power line inspection robot. Background technique [0002] At present, there are mainly two types of line inspection robots researched at home and abroad. One is the overhead power line inspection robot without obstacle-crossing function. This technology is relatively mature abroad, but domestic research started late and is still in the laboratory stage. Robot-like robots generally require manual participation. When encountering obstacles, people need to assist them to climb over obstacles. The scope of work is small and the degree of automation is low. The other type is a robot with autonomous walking and overcoming obstacles. This type of autonomous line inspection robot can cross obstacles on the line and carry out large-scale and long-term inspection operations. However, most of them are still in the research stage. Al...

AI Technical Summary

Problems solved by technology

[0002] At present, there are mainly two types of line inspection robots researched at home and abroad. One is the overhead power line inspection robot without obstacle-crossing function. This technology is relatively mature abroad, but domestic research started late and is still in the laboratory stage. Robot-like robots generally require manual participation. When encountering obstacles, people need to assist them to climb over obstacles. The scope of work is small and the degree of automation is low.

The other type is a robot with autonomous walking and overcoming obstacles. This type of autonomous line inspection robot can cross obstacles on the line and carry out large-scale and long-term inspection operations. However, most of them are still in the research stage. Although some results have been achieved, But few have produced market-ready products, and effective ways to overcome the hurdle have yet to be found

Images