Substation Inspection Robot Crawler Obstacle-Navigation Platform Complex Environment Research

摘要

state grid electric power robotics laboratory has developed four generations of substation inspection robot, but large scope of substation outdoor and route of road surface condition is complex, the application of inspection robot produced strong constraints, the inspection robot under complex road conditions of obstacle ability put forward higher request. Through this study design of crawler obstacle-navigation platform enhances the obstacle negotiation ability, enable it to adapt to complex terrain conditions. Adopt six crawler structure, can cross the road the road opposite sides-to hold the substation, obstacles such as cable trench cover plate, and good stability, not easy to roll over, to the district of equipment to test the equipment, improve the ability of task. Key words: caterpillar; The obstacle-surmounting platform; Inspection; The robot