Transmission line inspection robot autonomous obstacle crossing control system and control method

Abstract

The invention discloses an autonomous obstacle-surmounting control system for a transmission line inspection robot, which is characterized in that: it includes a controller and a motor drive module; the controller is connected to the motor drive module; the motor drive module is used to drive the motor to rotate; It also includes a positioning module, the positioning module is used to locate obstacles, and through the positioning, control over obstacles. The obstacle surmounting method of the present invention is convenient and fast, which is conducive to improving the efficiency of obstacle surmounting; at the same time, in the present invention, a variety of sensors are assembled for positioning, and accurate positioning information is obtained according to the detection information, and the position is calculated according to the detection data, and the positioning is performed independently. According to the information of self-positioning, corresponding obstacle-crossing control is adopted, so as to realize autonomous obstacle-crossing.

Description

Technical field [0001] The invention relates to the field of transmission line inspection, in particular to an autonomous obstacle crossing control system and control method for a transmission line inspection robot. Background technique [0002] Our country is vast and electrified. High-voltage transmission lines are becoming denser and denser. Even many remote mountainous areas have already bid farewell to the era of kerosene lamps. However, high-voltage lines are in the wild, such as heavy winds and heavy snow, and other severe weather, mudslides. Natural disasters such as earthquakes, including man-made theft and destruction of facilities, will threaten the normal operation of high-voltage lines, and the consequences thereof are immeasurable; therefore, high-voltage lines must be inspected and maintained. [0003] In order to ensure the normal operation of power lines, regular maintenance of transmission lines is required. The patrol inspection not only understands the operatio...

AI Technical Summary

Problems solved by technology

At present, manual visual inspection is mainly used, but my country's transmission lines have long mileage and wide coverage, and some lines also cross mountainous areas, large rivers, grasslands and virgin forests, etc., which makes the inspection work labor-intensive and difficult to ensure that the inspection is in place rate and affect the quality of inspections. At the same time, live work at high altitudes poses hidden dangers to the safety of inspection personnel.

[0004] In order to solve the above problems, a robot is used to inspect the line. The robot can perform multiple tasks at the same time and feed back the line situation in real time, which can completely liberate the workers from the laborious and dangerous high-voltage line inspection work; however, there are gaps on the existing transmission lines Rods are used to disperse multiple strands of power lines, and these spacer rods become obstacles for the robot to run along the line, and the ability to overcome obstacles has become an important requirement for inspection robots

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