Ling Lie

Research on the influence of the driving wheel and robot posture on climbing capability of a transmission line inspection robot

Climbing capability, as an important index to assess the performance of the power transmission line (PTL) inspection robot, directly concerns the robot practical application. In the former design, in order to enhance the climbing capability, the common method is to choose a drive motor with high torque and a transmission system with large reduction ratio. However, as a matter of fact, climbing capability of the inspection robots using the method mentioned above does not become very satisfied. This article analyzes the influence of posture and drive wheel on the climbing capacity, proposes a new method to improve climbing capability by changing the robot posture during climbing and optimum design for drive wheels, which could enhance the adhesion capability and balance the load, and finally validates the correctness of the proposed method by simulation and experiments. The research contents are also meaningful to some other mobile robots.

Precision compensation of localization error in obstacle-navigation for inspection robot

Research on inspection robot for 500 kv EHV power transmission lines home and abroad began with great potential applications in the electric industry. Path planning for robot to navigate obstacles based on environments perception is attempted in the present study; moreover, lines localization is the key during navigating obstacles. An analytical localization method is proposed; however, localization error is brought by perception sensors of lines identification, which affects the accurateness of lines localization precision. Precision compensation for the localization error in the kinematics model is represented with a rotation degree of freedom as the same direction as that of the localization error. The simulation and the experiments are carried out with navigating obstacles that the proposed compensation might actually provide an accurate localization precision.Research on inspection robot for 500kv EHV power transmission lines home and abroad began with great potential applications in the electric industry. Path planning for robot to navigate obstacles based on environments perception is attempted in the present study; moreover, lines localization is the key during navigating obstacles. An analytical localization method is proposed; however, localization error is brought by perception sensors of lines identification, which affects the accurateness of lines localization precision. Precision compensation for the localization error in the kinematics model is represented with a rotation degree of freedom as the same direction as that of the localization error. The simulation and the experiments are carried out with navigating obstacles that the proposed compensation might actually provide an accurate localization precision.