NDLI: Mobile robot for overhead powerline inspection and a controlling method for obstacle avoidance

Content Provider	IEEE Xplore Digital Library
Author	Liyan Zhang Shouyin He
Copyright Year	2011
Description	Author affiliation: Research and Development Department, Beijing Shenlang Electronics Technology CO., LTD, China (Shouyin He) \|\| Key Laboratory of 3D Information Acquisition and Application of the Ministry of Education, Capital Normal University, CNU, Beijing, China (Liyan Zhang)
Abstract	This paper designs a mobile robot for overhead powerline inspection and a controlling method for obstacle avoidance, which is composed of three suspender arm with the three-coordinate rolling wheel machine, three-node CAN bus system and wireless image transmission with CCD. The suspender arm includes the straight line synchro-strap rail bar for mobile in breadth, the gear-rack machine for moving horizontally, the synchro-strap rail bar for moving vertically and the driving machine with a rolling wheel. Every suspender arm can move in three right-angle coordinate direction through the motor with a photoelectric coder,in which the sensors are built for the purpose of detecting the obstacles such as the quakeproof bar, line clamp and down-lead etc. The controlling system can realizes the whole robot machine rolls along the powerline in a long distance and avoids obstacles automatically by driving relevant motor for suspender arm's three-coordinate moving based for program after analyzing the inputting sensors' signal including the sensors for detecting the obstacles and photoelectric coders.
Starting Page	512
Ending Page	515
File Size	619574
Page Count	4
File Format	PDF
ISBN	9781424480364
e-ISBN	9781424480395
DOI	10.1109/ICEICE.2011.5777410
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Flexible printed circuits Robot kinematics Obstacle avoidance Inspection DC motors Overhead powerline inspection Auto-controlling arithmetic
Content Type	Text
Resource Type	Article

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