CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Development of a power line inspection robot with hybrid operation modes
Chang WK(常文凯)1,2; Yang GD(杨国栋)1; Yu JZ(喻俊志)1; Liang ZZ(梁自泽)1; Cheng L(程龙)1; Zhou C(周超)1
2017-11
Conference Name2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference Date2017-9
Conference PlaceVancouver, BC, Canada
AbstractIn this paper, we design and build a power line inspection robot capable of hybrid operation modes. Specifically, the developed robot is able to land on the overhead ground wire (OGW) and to move as the climbing robot. When to negotiate obstacles, it can vertically take off the wire and fly over the obstacles as the unmanned aerial vehicle (UAV). A customized trumpet-shaped undercarriage is used to guarantee that the robot can land and move safely. With the aid of a swingable 2D Laser Range Finder (LRF), the robot can not only determine whether there are obstacles but also detect the position and orientation of the OGW, making it suitable for automatic inspection of power lines. The outdoor experimental results1 demonstrate the effectiveness of the robot in landing and obstacle negotiation. In addition, the average power consumption of the robot is much lower than that of traditional flying robots for power line inspection.
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20978
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
Recommended Citation
GB/T 7714
Chang WK,Yang GD,Yu JZ,et al. Development of a power line inspection robot with hybrid operation modes[C],2017.
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