Barrier-free channel building method and device for silkworm foot-like inspection robot

Abstract

The invention relates to an inspection robot technology, in particular to a barrier-free channel building method and device for a silkworm foot-like inspection robot, and the method comprises the steps: building a barrier-free channel for an inspection route of the silkworm foot-like inspection robot, analyzing the requirements of the barrier-free channel, and calculating a gap between a bridging object and an in-situ line; the interference condition of the silkworm foot-like inspection robot and the bridging object is further considered; a ground wire shockproof hammer barrier-free channel building method and a straight line pole tower barrier-free channel building method are designed for a ground wire shockproof hammer and a straight line pole tower respectively, corner pole towers are divided into large corner pole towers and small corner pole towers, and corresponding barrier-free channel building method design is carried out respectively. And then a barrier-free channel for the silkworm foot-like inspection robot is obtained. The device can help the silkworm-foot-like inspection robot to efficiently and safely pass through line ground wires and tower environments in actual engineering, can be widely applied to various power transmission lines including large-height-difference lines on a large scale, and further meets the line inspection requirements of the actual engineering.

Description

technical field [0001] The invention belongs to the technical field of inspection robots, and in particular relates to a method and a device for building a barrier-free passage of a silkworm-like inspection robot. Background technique [0002] With the continuous expansion of the construction scale of power grid projects, the workload and difficulty of inspection of transmission lines are constantly increasing. Due to reasons such as distance, viewing angle and occlusion, artificial ground patrols cannot observe the operation of insulators and electrical equipment on towers at close range. Under certain meteorological conditions, manual tower inspections do not have operating conditions. In addition, there is a serious shortage of inspection personnel, and there is a phenomenon that the supply is in short supply. Therefore, the development and research of power transmission line inspection robots has become a key issue at present. In alpine and high-altitude areas, inspec...

AI Technical Summary

Problems solved by technology

[0005] Due to the significant difference in structure between the two-arm or three-arm crawling inspection robot and the silkworm foot inspection robot, the above-mentioned related patents cannot meet the obstacle passing requirements of the silkworm foot inspection robot

However, due to the limited climbing ability, two-arm or three-arm crawling inspection robots cannot be used in the inspection of large height difference lines, which cannot meet the actual needs of the project.

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