Transmission line inspection robot and deicing robot: Key technologies, prototypes and applications

摘要

This paper proposes four types of mobile robots for transmission line, namely, three types of inspection robots and one type of deicing robot, which were developed by Wuhan University since 2001 in China. The mobile robots equipped with inspection sensors/instruments, deicing manipulator, and communication devices, are able to automatically perform on-line detection/inspection of mechanical/electrical failures or deicing in disaster via self-navigation without suspending power supply. The key technologies, including the combined mechanism of robot body and manipulators, obstacles' identify and robot's pose self-detection, power supply and energy monitoring, and control system are discussed. Finally four types of prototypes and their application tests are performed to valid the effectiveness of proposed technologies and the integrated robot system.