Research and Design on Inspection Robot for High-Voltage Transmission Lines

Abstract

The paper introduces a kind of inspection robot for high-voltage transmission lines from two parts:Mechanical structure and control system. Three arms is adopted in the mechanical structure, while the control system used a hierarchical modular control scheme is designed to a kind of three-layer control structure including the ground monitoring layer, the task decision layer and the action execution layer. The PC/104 and AT89C51 is used for the main control computer, and the MX-servo is used for the power drive components. Except for describing the robots working process of crossing obstacles in detail, the paper also introduces the responsibilities, hardware components, software design process of the control system. From the simulation experiment on motion control system using Matlab/Simulink, we can conclude that the motion control system of the robot has high-stability and reliability and meet the design requirements.

Research on electric field environment and anti-interference method of high voltage transmission line

“…Electromagnetic interference refers to the performance degradation or failure of systems, transmission channels, and equipment due to electromagnetic interference [3] . The electromagnetic interference model is shown in Figure 1: Parts, devices or systems that cause electromagnetic interference to other surrounding devices are called interference sources; the channel through which electromagnetic interference is transmitted to the interfered device is called a coupling path, which can be divided into radiation coupling paths and conduction coupling paths; easily affected by electromagnetic interference Parts, equipment or systems that are identified as sensitive sources.…”

Electromagnetic Navigation Linear Displacement Transducer Based on Magnetic Field Gradient Technique

“…It is especially important for inspection vehicles or robots working in severe environments and requiring high levels of accuracy, stability, and costeffectiveness. One of the most demanding applications is to navigate inspection vehicles along high-voltage overhead cables in electric power transmission networks, particularly for those distributed over complex landforms, large areas, and/or long distances [5]. In fact, long-term exposure of the overhead cables to outdoor environments with large temperature variations, high moisture and chemical contents, strong ultraviolet radiations, great mechanical stresses, etc.…”