Inspection robot is a special robot applied to inspect the high-voltage power transmission lines. The robot can reduce the labor intensity and risk of the workers, while increasing the inspection efficiency and equality and guaranteeing the stable operation of the power lines by running on the power lines continuously and maintaining the lines and fittings automatically with the carried devices. The difficulty in automatic inspection by robot is to negotiate all the obstacles on the power line by the robot itself, because there are obstacles such as the vibration dampers, the clamps and the insulating strings and so on, which restrict the movement of the robot. So it is necessary to design flexible obstacle negotiation procedure as well as reliable mechanical structure and control methods to realize the inspection of the power lines by robot automatically. In this paper, a bi-brachiate inspection robot is designed based on the relative research, and several control problems are studied based on different system models during the automatic obstacle negotiation procedures, such as the turning-around procedure based on adaptive fuzzy logic, the symmetric-linear procedure based on the energy method and the automatic-clamping procedure based on visual servoing. The main contributes of this paper includes: The previous research work and the research implication of the inspection robot are presented. The key technologies and the development trends are analyzed including the mechanical structure, the control system, sensor fusion and the endurance. A bi-brachiate robot structure is designed based on the analysis of the environment and the type of the obstacles. Two kinds of obstacle negotiation way, such as turning-around and symmetric-linear, are designed for different obstacles. The control system composed by robot main controller based on ARM, motion control system based on ASIC, environmental perception system based on multi-sensor and visual system based on DSP, is designed with the hierarchical structure based on modular method. Three control ways such as automatic control, remote control and manual control are presented which will be used in different situations. Obstacle negotiation experiments have been carried out by remote control, which show the effectiveness of the designed system. The dynamic model of the inspection robot in the turning-around procedure is derived based on Lagrangian method. A linear controller is designed based on the d...
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