Single Arm Running Control Method of Inspection Robot Based on Obliquitous Sensor

摘要

Inspection robot encounters upslope and down- slope, when single wheel runs on overhead ground wires (OGWs) which displays catenary shape. The tilt of inspection robot's body is happened because the contact point between single wheel and overhead line is variational with the angle variation of catenary in different position during single wheel running procedure, and causes the gravity torque unbalance. Above problem disenable to check vertically power transmission line by the high-speed dome camera. A centroid adjustment method, which can enable to keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor adjusting the centroid position in this paper. In order to implement centroid adjustment, the equilibrium condition equation and the dynamic model of centroid adjustment mechanism is established by Lagrange method. Finally, the simulation results test that the centroid adjustment method proposed is feasible.