Flying snake high-voltage transmission line maintenance robot system and control method

Abstract

The invention provides a flying snake high-voltage transmission line maintenance robot system and a control method. The flying snake high-voltage transmission line maintenance robot system comprises acommunication module, a posture judgment module, a driving module, a positioning module, an environment recognition and judgment module, a flying snake robot controller, a ground control center and apower module, wherein the communication module is used for the wireless transmission of data; the posture judgment module is used for judging the posture of a whole flying snake robot and the postureof each unit snake body; the driving module is used for driving the flying snake robot to complete actions such as flight, inspection, obstacle crossing and maintenance; the positioning module is used for acquiring the coordinate position of the flying snake robot; the environment recognition and judgment module is used for judging the motion state of the flying snake robot and recognizing the environment; the flying snake robot controller is used for controlling and coordinating work among the modules; the ground control center is used for receiving data returned by the flying snake robot and sending related signals to the flying snake robot; and the power supply module is used for supplying power to each module.

Description

technical field [0001] The invention belongs to the high-voltage transmission line inspection field, and in particular relates to a flying snake high-voltage transmission line maintenance robot system and a control method. Background technique [0002] Overhead high-voltage transmission lines are the intermediate medium of power transmission, and their stability is related to the national economy and people's livelihood. At present, domestic inspection methods mostly use manual inspection, or use unmanned aerial equipment for inspection. With the deepening of robot technology research, high-voltage transmission line robots have begun to play an important role in inspection operations. [0003] For the research on the inspection robot of high-voltage transmission lines, there are more representative inspection robots abroad, such as the "LineScout" inspection robot developed by the Quebec Hydropower Research Institute in Canada; the Kansai Electric Power Company (KEPCO) and ...

AI Technical Summary

Problems solved by technology

[0005] In summary, although domestic and foreign high-voltage line inspection robots and snake-like robots have made great progress, there are still: (1) At present, the control of snake-like robots at home and abroad is mostly concentrated on ground control, underwater control and pipeline control. (2) The control system of the traditional 2-arm or 3-arm rigid structure high-voltage transmission line inspection robot is not only complicated, but also usually suitable for application in the environment of specific structure fittings and towers, which is difficult to apply to complex Changing high-voltage transmission line environment

(3) Most inspection robots only have inspection control, not maintenance control

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