Pole-climbing robot and track deviation rectifying method thereof

Abstract

The invention discloses a pole-climbing robot and a track deviation rectifying method thereof. The pole-climbing robot comprises an operation platform and longitudinal guide rails which are arranged on the lower side of the operation platform. The operation platform is provided with cameras, the longitudinal guide rails are provided with an upper pole holding unit and a lower pole holding unit, and an electric drive pusher is arranged between the two pole holding units. Each pole holding unit comprises a left clamping jaw and a right clamping jaw, and the clamping jaws are provided with deviation rectifying devices. The track deviation rectifying method comprises the steps that an actual deviation angle is acquired, a corresponding control amount theta is acquired by combining different working modes, a feeding amount S corresponding to the control amount theta is acquired according to a preset mapping relation model, and the deviation correction device is controlled. The pole-climbing robot climbs flexibly, is applicable to different pole diameters and can automatically rectify track deviation and automatically and rotationally climb around a pole, remote control is achieved, the running time is long, transmission line operation tasks can be completed, and the track deviation rectifying method has the beneficial effects that track deviation of the pole-climbing robot can be prevented, track stability and reliability are ensured, and simplicity, practicality, rapidness and reliability are achieved.

Description

technical field [0001] The present invention mainly relates to a pole-climbing robot and a control method thereof in the field of power system transmission line operation automation, and in particular to a pole-climbing robot and a trajectory correction method thereof. Background technique [0002] With the development of urban power grid transformation, more and more transmission lines need to be manually inspected and operated. Theoretically, transmission lines are less affected by external factors and have higher reliability in safe operation. However, in reality, dirt, bird droppings and other dirt will adhere to the transmission line after a period of operation, and other substances such as acid rain will also corrode the transmission wire. These problems will eventually lead to an increase in the failure rate of transmission lines, leading to frequent power outages. The fault monitoring tasks of domestic transmission lines are mostly completed manually. The staff obs...

AI Technical Summary

Problems solved by technology

The work efficiency of this working method is low, and the personal safety factor of the staff is also relatively low. It is impossible to accurately complete the monitoring work of the transmission line, and missed detection and false detection often occur.

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