Abstract：Large span transmission lines are often located in the harsh natural environment, such as typhoon, strong vibration, serious salinity and so on. In order to solve the problem that large span transmission lines cannot be inspected manually, this paper designs a transmission line inspection robot system. The inspection robot can cross from the tower head to the ground wire through the obstacle device, and then carry out inspection work along the ground wire. Intelligent charging nests are installed on the tower heads at both ends of the long span, which can charge the robot battery wirelessly, and effectively solve the problem of robot charging in the field. RTK differential positioning system with high-precision walking code disk can achieve centimeter level accurate positioning of robot, and improve the accuracy of image and video acquisition of robot. Through the 4G module, the robot can transmit its own state, transmission channel operation information, pictures, videos, etc. to the server background, which is convenient for inspectors to check whether the line is running normally in real time. The robot effectively reduces the labor intensity and working danger of the inspectors of transmission lines, and realizes the high precision automatic inspection of large span transmission lines.
蔡光柱, 杨振, 郑鹏超. 大跨越输电线路巡检机器人系统的设计[J]. 电气技术, 2022, 23(4): 76-81.
CAI Guangzhu, YANG Zhen, ZHENG Pengchao. Design of inspection robot system for large span transmission line. Electrical Engineering, 2022, 23(4): 76-81.
2022, Vol. 23 
