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

Abstract

A flying snake high-voltage transmission line maintenance robot system and control method proposed by the present invention, the system includes a communication module, an attitude discrimination module, a drive module, a positioning module, an environment recognition and judgment module, a flying snake robot controller, and a ground control center, and power modules. Among them, the communication module is used for wireless transmission of data; the attitude discrimination module is used to determine the attitude of the flying snake robot as a whole and the snake body of each unit; the driving module is used to drive the flying snake robot to complete flight, inspection, obstacle surmounting, maintenance, etc. action; the positioning module, used to obtain the coordinate position of the flying snake robot; the environment recognition and judgment module, used to judge the own motion state of the flying snake robot and recognize the environment; the flying snake robot controller, used to control and coordinate each The work between the modules; the ground control center is used to receive the data sent back by the flying snake robot and send relevant signals to the flying snake robot; the power supply module is used to supply 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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