Vibration Analysis of Obstacle-avoidance for EHV Power Transmission Lines Inspection Robot

摘要

Research on the inspection robot for extra high voltage (EHV) power transmission lines focuses on their practical applications in the electric industry. Obstacle-avoidance plays a key in the inspection robot. When there is ambient interference, such as wind, a vibration is thereby occurred, which influences on the lines localization precision of the arm mechanism of the robot during the avoidance motion. However, solid simulation and computation has revealed that the localization precision could not be compensated by the kinematics model without freedom in the vibration directions. In the present study, the errors in structural distortion of the arm and the oscillation originated from the ambient interference are represented. In order to improve the localization precision, the errors in structural distortion is put into the calibration model of micro-cameras to attempt to analyse the vibration. In addition, navigating experiments of the image of the lines localization is provided to confirm the vibration analysis available for obstacle-avoidance.