Development of a power line inspection robot with hybrid operation modes

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	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
会议日期	2017-9
会议地点	Vancouver, BC, Canada
英文摘要	In 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.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/20978]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.中国科学院自动化研究所 2.中国科学院大学
推荐引用方式 GB/T 7714	Chang WK,Yang GD,Yu JZ,et al. Development of a power line inspection robot with hybrid operation modes[C]. 见:. Vancouver, BC, Canada. 2017-9.