Bionic power transmission line inspection robot and obstacle crossing method thereof

Abstract

The invention designs a power transmission line inspection robot with a novel structure by virtue of the bionic action principle, and the power transmission line inspection robot improves power transmission line inspection efficiency, improves continuous working ability and is simple to control. The power transmission line inspection robot comprises a robot unit and image pickup units, wherein the robot unit comprises joint bodies, grippers and solar panels; the joint bodies are mechanically connected and fixed to the grippers; and the robot unit is connected to a power transmission line through the grippers. According to the bionic transmission line inspection robot, a structural body of an inchworm form is adopted, a bionic peristaltic type climbing and obstacle crossing method is adopted, the structure of the power transmission line inspection robot is simple, and number of drivers needed for motion is small; the inchworm motion is periodical action, and therefore, control is simple; solar energy is utilized for charging, so that complementary charging of light energy and storage batteries is realized, and therefore, continuous inspection ability is improved; the image pickup units are adopted for carrying out obstacle identifying and obstacle avoiding, so that obstacle avoiding effect is improved; a unit type motion structure is adopted, so that reconfigurability and fault tolerance are improved; and the power transmission line inspection robot is integrally a front-rear symmetrical structure, so that linear inspection realizes motion direction barrier-free switching.

Description

technical field [0001] The invention relates to the technical field of high-voltage line detection, and more specifically, to a line patrol robot and an obstacle surmounting action method. Background technique [0002] High-voltage and extra-high-voltage overhead power lines are the main means of long-distance power transmission and distribution. The safe and stable operation of high-voltage transmission lines directly affects the reliability of the power system. Therefore, regular inspections must be carried out on the transmission lines to keep abreast of the operation of the transmission lines and the changes in the surrounding environment and line protection areas. In order to discover and eliminate hidden dangers in time, prevent accidents, and ensure power supply safety. The traditional manual inspection method not only has a large workload but also has difficult conditions. In some special areas, it is difficult to complete by conventional methods. Therefore, the us...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems of low continuous line inspection ability and weak adaptability to climbing and overcoming obstacles of current line inspection robots, the present invention designs a line inspection robot with a new structure through the bionic action principle, improves line inspection efficiency, improves continuous working ability, and is easy to control

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