CN102941920A - High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot - Google Patents
High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot Download PDFInfo
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- CN102941920A CN102941920A CN2012105141420A CN201210514142A CN102941920A CN 102941920 A CN102941920 A CN 102941920A CN 2012105141420 A CN2012105141420 A CN 2012105141420A CN 201210514142 A CN201210514142 A CN 201210514142A CN 102941920 A CN102941920 A CN 102941920A
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Abstract
The invention discloses a high-tension transmission line inspection robot based on a multi-rotor aircraft, which comprises a four-rotor aircraft and an inspection system, wherein a double-power module supplies power to the four-rotor aircraft and the inspection system; the four-rotor aircraft comprises a robot body, four rotors, four rotor motors and four rotor motor drivers, the rotors, the rotor motors and the rotor motor drivers are matched, the four rotors are fixedly arranged on respective rotor motors, and the four drivers are respectively connected with respective rotor motors 3; and the inspection system performs shooting and data transmission on high-tension transmission lines. The robot disclosed by the invention performs air flight inspection based on four rotors, and is high in air flight stability and good in inspection speed. Through wireless camera shooting control, a visible light camera can be moved to a position near a suspected fault point so as to realize the emphasized detection of suspected fault points of the high-tension transmission lines.
Description
Technical field
The invention belongs to power circuit polling maintenance technology field, particularly a kind of HV Transmission Line Routing Inspection robot and method thereof based on multi-rotor aerocraft.
Background technology
Transmission line of electricity is the electric system important component part, its safety and stability is directly connected to the reliability of electric system, because China's power transmission line corridor geographical environment is complicated, and be exposed to for a long time the field near electric wireline and the shaft tower etc., affected by various factors and disconnected strand, wearing and tearing, corrosion equivalent damage occur, as can not in time repairing replacing, can cause major accident, cause large-area power-cuts, thereby cause great economic loss and serious social influence.So must carry out regular visit to transmission line of electricity, in order in time find and remove a hidden danger, guarantee power supply safety.
Generally adopt at present the manual inspection method to patrol and examine, maked an inspection tour by tower along the line on ground by the people, many defectives such as there is low, dangerous high, the poor reliability of efficient in this method of inspection, expense is high and undetected.For this reason, be necessary to develop a kind of automatic polling robot for transmission lines that replaces manual inspection, with timely discovery transmission line malfunction, increase work efficiency, reach the purpose of guaranteeing the transmission line of electricity safe operation.Patent 200320116747.0 discloses a kind of design of automatic running on transmisson line robot monomer, can realize the functions such as stabilized walking, across obstacle, emergency brake on power transmission line.Patent 201010596347.9 discloses a kind of Intelligent routing inspection travelling device for running status of high-voltage line.
That existing inspection robot for high-voltage line has is lightweight, simple and reasonable, have the characteristics such as certain obstacle climbing ability and be subject to extensive concern and research, but exists simultaneously polling rate slow, and flying power is not strong, the deficiencies such as hanging wire inconvenience.Patent 201110006723.9 discloses a kind of power line patrolling method.Unmanned plane adopts helicopter, and volume is large, and weight is also large, and flight stability is good not, and the accident during line walking causes very big hidden danger and threat to high-tension line, and power consumption is high.
Summary of the invention
The object of the present invention is to provide a kind of HV Transmission Line Routing Inspection robot and method thereof based on multi-rotor aerocraft.
The technical solution that realizes the object of the invention is: a kind of HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft, comprise quadrotor and cruising inspection system, dual-power module is quadrotor and cruising inspection system power supply, described quadrotor comprises robot body, four rotors, four rotor motors, four rotor motor drivers, each rotor, rotor motor and rotor driver coupling are used, four rotors are fixedly mounted on separately the rotor motor, and four actuators are connected with separately rotor motor 3 respectively; Wherein robot body comprises four hold-down arms, four rise and fall support and body control units, one end of four hold-down arms links together, body control unit and inspection system are arranged on four hold-down arm junctions, and four rotor motors, four actuators, four supports that rise and fall are separately positioned on the other end of hold-down arm separately; Inspection system is taken and data transmission ultra-high-tension power transmission line.
The present invention compared with prior art, its remarkable advantage: (1) robot of the present invention is patrolled and examined based on four rotor airflights, has high airflight stability and polling rate preferably.By wireless camera control, visible camera can be moved near the doubtful trouble point, realize that the emphasis of ultra-high-tension power transmission line suspected fault point detects.(2) quadrotor can be realized auto-flare system by the body control unit, electromagnetic sensor can guarantee that aircraft and ultra-high-tension power transmission line keep certain safety distance always, robot can automatic obstacle avoiding and navigation, also can send control command by RCU, mode flexibly, efficiently.(3) the present invention adopts and manually/independently shares control method, autonomous system and the artificial control command that sends are merged in the inspection robot controller, from the degree of freedom of master control and the shared robot of manual control, adjust position and the attitude of robot, finish the line walking task.(4) the present invention adopts infrared thermoviewer and visible camera, image and video that can shooting clear, and flow to the ground image processing unit by wireless transmission method and process, in conjunction with the use of GPS module, can be good at the coordinate information of record trouble.(5) adjustable apparatus of inspection system can guarantee visible camera in three-dimensional movement, detects thereby can carry out emphasis to doubtful trouble point, for fault is provided by the accurately information that provides.(6) dual-power module to the online in real time electric energy supplement of storage battery, has guaranteed the real-time online working ability of robot by no touch transformer power supply.(7) this apparatus structure is compact, reasonable in design, simple to operate, has good using value and prospect of the application.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is quadrotor structural representation of the present invention.
Fig. 2 is each parts connection diagram of flight control unit.
Fig. 3 is the structural representation of adjustable apparatus.
Fig. 4 is the connection diagram of image data processing system.
Fig. 5 is the dual power source structure schematic diagram.
Fig. 6 be artificial/independently share the control flow schematic diagram.
Fig. 7 is the HV Transmission Line Routing Inspection diagram of circuit.
The specific embodiment
As shown in Figure 1, the present invention is based on the HV Transmission Line Routing Inspection robot of multi-rotor aerocraft, comprise quadrotor and cruising inspection system, dual-power module is quadrotor and cruising inspection system power supply, described quadrotor comprises robot body 1, four rotors 2, four rotor motors 3, four rotor motor drivers 4, each rotor 2, rotor motor 3 and rotor driver 4 couplings are used, four rotors 2 are fixedly mounted on separately the rotor motor 3, four actuators 4 are connected with separately rotor motor 3 respectively, and upper computer 16 or remote control equipment (RCE) 18 send control commands and realize patrolling and examining ultra-high-tension power transmission line to robot body 1.
Wherein robot body 1 comprises four hold-down arms 5, support 6 and body control unit 7 rise and fall, one end of four hold-down arms 5 links together, body control unit 7 and inspection system are arranged on four hold-down arm 5 junctions (take the middle position that is arranged on hold-down arm 5 as the optimum position), and four rotor motors 3, four actuators 4, four supports 6 that rise and fall are separately positioned on the other end of hold-down arm 5 separately; Inspection system is taken and data transmission ultra-high-tension power transmission line.Particularly, four rotor motors 3, four actuators 4 are arranged on above hold-down arm 5 other ends, and the support 6 that rises and falls is installed in below hold-down arm 5 other ends.Four hold-down arms 5 when launching the angle between adjacent two hold-down arms be 70 °≤A≤90 °, be in same plane, and can fold, be convenient for carrying.Quadrotor integral body is " X " shape, can adopt carbon fibre material, lightweight good rigidly.
As shown in Figure 2, body control unit 7 comprises singlechip controller 8, three-axis gyroscope 9, triaxial accelerometer 10, baroceptor 11, three-axis gyroscope 9, triaxial accelerometer 10, baroceptor 11 are connected with singlechip controller 8, three-axis gyroscope 9 and triaxial accelerometer 10 are used for perception machine human motion state and body attitude, and feed back to singlechip controller 8, singlechip controller 8 calculates four motor speeds by aircraft control algorithm (such as PID), makes the aircraft can be according to the control command stabilized flight that sends; Baroceptor 11 is used for the height of robot measurement, the state of kinematic motion and the body attitude that cooperate three-axis gyroscope 9 and triaxial accelerometer 10(to record according to three-axis gyroscope 9 and triaxial accelerometer 10, adjusting four motor speeds by singlechip controller 8 equates), to make robot hover over doubtful fault place, and carry out emphasis and detect.
Body control unit 7 also comprises ultrasonic transduter 12, GPS module 13, electromagnetic sensor 14, ultrasonic transduter 12, GPS module 13, electromagnetic sensor 14 are connected with singlechip controller 8, ultrasonic transduter 12 is used for the distance of monitoring human body 1 and the place ahead obstacle (such as shaft tower, branch etc.), be transferred to singlechip controller 8 by serial ports, be used for the automatic obstacle avoiding of robot; GPS module 13 is used for location and the autonomous navigation of robot, can make robot according to the autonomous line walking of route of planning, and records the location information at doubtful fault place; Electromagnetic sensor 14 is used for the distance of monitoring human body 1 and ultra-high-tension power transmission line, and for flight safety, robot body 1 must keep certain safety distance with high-tension line; In the time that next destination surpasses safety distance, singlechip controller 8 is planned the flight path that makes new advances again according to evaluation function f (x)=g (x)+u (x), regulates four motor speeds and makes it be in safety distance.This is an autonomous control process that constantly inspires from initial point to target, and wherein g (x) is the flight path cost of starting point to destination x current to be expanded, and heuristic factor u (x) is the actual cost estimated valve of destination x to the target location.Cost function
, l
iBe the length of starting point to i flight path section between destination x, h
iBe the center-line-average of flight path section i, f
iBeing the threaten degree of flight path section i, is the function about distance between flight path section i and the high tension cord.
What match with body control unit 7 is ground control system, body control unit 7 and ground control system have consisted of general control system, control whole aircraft airflight, hover, the control of location and attitude, ground control system comprises upper computer 16, wireless data transceiver module 15 and remote control equipment (RCE) 18.The singlechip controller 8 of body control unit 7 receives in real time distribution of machine people's various flying qualities by wireless data transceiver module 15 and shows at upper computer 16, comprise cell pressure, coordinate, highly, attitude, flight time, flying speed, flight path, apart from important informations such as the distance of takeoff point, GPS states; The operator sends control command by remote control equipment (RCE) 18 and receives by remote-receiver 17, is transferred to singlechip controller 8 by serial ports; The operator also can send control command by upper computer 16 and be transferred to singlechip controller 8 by wireless data transceiver module 15, and this has improved the system integration, has improved simultaneously system survivability.
Among the present invention, inspection system comprises two-freedom adjustable apparatus 19, infrared thermoviewer 20, visible camera 21, and described adjustable apparatus 19, infrared thermoviewer 20 are installed in respectively on four hold-down arm 5 junctions; Described visible camera 21 is connected with robot body 1 by adjustable apparatus 19; As shown in Figure 3, adjustable apparatus 19 comprises driving steering wheel 23, base 24, vertical struts 25 and lateral rotation parts 26, driving steering wheel 23 is connected with vertical struts 25, be used for realizing the rotation of vertical struts 25 on longitudinal plane, vertical struts 25 1 ends are connected with base 24, and the other end is used for fixing lateral rotation parts 26; Lateral rotation parts 26 are connected with visible camera 21, and visible camera 21 can be moved in the horizontal, drive steering wheel 23 and lateral rotation parts 26 and have guaranteed that visible camera 21 is in three-dimensional locomotivity.When robot is found doubtful trouble point, can hover near the doubtful trouble point, regulate visible camera 21 it is carried out the emphasis detection.
What match with inspection system is the ground image processing unit, and inspection system and ground image processing unit form image data processing system jointly, realizes shooting, data transmission (being transferred to upper computer 16) and analysis to the ultra-high-tension power transmission line region of interest.
As shown in Figure 4, inspection system also comprises wireless video transmission module 22, infrared thermoviewer 20, visible camera 21 captured videos transfer to the ground image processing unit by wireless video transmission module 22, and this ground image processing unit comprises that this upper computer of upper computer 16(also can be the component part of ground control system), wireless video receiver module 27 and image pick-up card 28.Image pick-up card 28 is connected on the pci expansion slot of upper computer 16, wireless video receiver module 27 is connected with upper computer 16 by the USB mouth, and can be in time that visible camera 21 and infrared thermoviewer 20 is the captured transmission of video of wireless video transmission module 22 is to upper computer 16.
As shown in Figure 5, dual-power module is comprised of no touch mutual inductance type power supply 29, storage battery 30 and power management module 31, electromagnetic induction coupling between no touch mutual inductance type power supply 29 and storage battery 30 pass through, power management module 31 is connected with storage battery 30, no touch mutual inductance type power supply 29 adopts the contactless energy transmission technology, by electromagnetic coupling structure, after overcommutation, filtering etc., storage battery 30 is charged; 31 pairs of storage batterys 30 of power management module are monitored and are managed.
As shown in Figure 7, the present invention utilizes the above-mentioned HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft to realize the method for patrolling and examining, and step is as follows:
Step 1: at first by artificial/independently share the line walking that control realizes multi-rotor aerocraft, in this process, the video information real-time Transmission that wireless video transmission module 22 gathers infrared thermoviewer 20 and visible light camera 21 is to upper computer 16; Wireless data transceiver module 15 also feeds back to the destination position data that body control unit 7 gathers on the upper computer 16.As shown in Figure 6, manually/autonomous shared control is that the control command of autonomous navigation and the artificial control command that sends are merged in the upper computer of inspection robot, from position and the attitude of master control and the shared robot of manual control, finish the line walking task of robot, concrete steps are as follows:
(1) sends control command to singlechip controller 8 by ground control system, make the inspection robot ultra-high-tension power transmission line reference position of flying, by body control unit 7, hover in safety distance place in the distance reference position, then inspection robot begins autonomous line walking according to default course line, when concrete course line is set, carry out the low speed patrol flight according to good transmission tower gps coordinate prepared in advance with according to the safe flying height of tower height and setting;
(2) when autonomous line walking, gather two-dimensional video image by visible light camera 21, and pass to upper computer 16 by wireless video transmission module 22, also can show various flight parameter information on the upper computer 16 simultaneously, perhaps will store at upper computer 16 with the video image of gps coordinate location information, after flight finishes, video image is carried out analyzing and processing, comprise image denoising, image segmentation, feature extraction etc., at last eigenwert and the fault signature threshold value of extracting compared again, prevent undetected or false retrieval, and also can be used as training sample usefulness; In this process, follow the tracks of the patrol flight of inspection robot in the man-machine interface 32 of operator on upper computer 16;
(3) in the line walking process, run into extraordinary circumstances, adopt artificial/autonomous sharing to control by the man-machine interface 32 on the upper computer 16, inspection robot is carried out the adjustment of attitude and position, should artificial/autonomous shared control be in singlechip controller 8, to carry out superposition according to predetermined weighted value by manual control order and autonomous control command that upper computer 16 or remote control equipment (RCE) 18 send by the operator, thereby the degree of freedom on inspection robot affects, and jointly changes position and the attitude of inspection robot;
(4) upper computer 16 sends to singlechip controller 8 with the adjustment of attitude and position, and default course line is revised.
Step 2: upper computer 16 is stored video information in this locality, and video information processed, comprise the diagnosis of visible images analysis and infrared image analysis, adopt existing image processing techniques, after image carried out pretreatment, adopt the matching process based on feature, relatively with the similarity degree of different faults, after being defined as doubtful trouble point, doubtful position of failure point information is sent to singlechip controller 8.
Step 3: by manually/independently sharing control, the current operation situation of intervening inspection robot, make inspection robot fly near the doubtful trouble point and keep floating state, then by adjustable apparatus 19 visible camera 21 is moved near the doubtful trouble point, carry out emphasis and detect, and obtain fault eigenvalue.
Step 4: the ground image processing unit compares doubtful trouble point eigenwert and fault eigenvalue threshold value, after being defined as the trouble point, store location information and fault type into data bank, wherein the fault signature threshold value is the benchmark that determines whether the trouble point, for different faults, different fault signature threshold values is set respectively, after line walking finishes with the video information of storage on the upper computer 16 training sample as the fault signature threshold value, adopt the k means clustering algorithm to classify, and the characteristic threshold value of definite different faults.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, it should be appreciated by those skilled in the art, can make amendment or some changes to the present invention program, and not break away from aim and the scope of the technical program, such as, many rotors robot can be four rotors, eight rotors etc., and the layout of rotor also can change, and it all should be encompassed in the middle of the claim scope of the present invention.
Claims (10)
1. HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft, it is characterized in that comprising quadrotor and cruising inspection system, dual-power module is quadrotor and cruising inspection system power supply, described quadrotor comprises robot body (1), four rotors (2), four rotor motors (3), four rotor motor drivers (4), each rotor (2), rotor motor (3) and rotor driver (4) coupling are used, four rotors (2) are fixedly mounted on separately the rotor motor (3), and four actuators (4) are connected with separately rotor motor (3) respectively;
Wherein robot body (1) comprises four hold-down arms (5), four supports that rise and fall (6) and body control unit (7), one end of four hold-down arms (5) links together, body control unit (7) and inspection system are arranged on four hold-down arms (5) junction, and four rotor motors (3), four actuators (4), four supports that rise and fall (6) are separately positioned on the other end of hold-down arm (5) separately; Inspection system is taken and data transmission ultra-high-tension power transmission line.
2. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 1, it is characterized in that four hold-down arms (5) when launching the angle between adjacent two hold-down arms be 70 °≤A≤90 °, and be in same plane.
3. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 1, it is characterized in that body control unit (7) comprises singlechip controller (8), three-axis gyroscope (9), triaxial accelerometer (10), baroceptor (11), three-axis gyroscope (9), triaxial accelerometer (10), baroceptor (11) are connected with singlechip controller (8), three-axis gyroscope (9) and triaxial accelerometer (10) are used for perception machine human motion state and body attitude, and feed back to singlechip controller (8); Baroceptor (11) is used for the height of robot measurement, the state of kinematic motion and the body attitude that record according to three-axis gyroscope (9) and triaxial accelerometer (10), adjusting four motor speeds by singlechip controller (8) equates, to make robot hover over doubtful fault place, and carry out emphasis and detect.
4. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 3, it is characterized in that body control unit (7) also comprises ultrasonic transduter (12), GPS module (13), the electromagnetic sensor (14) that is connected with singlechip controller (8), ultrasonic transduter (12) is used for the distance of monitoring human body (1) and the place ahead obstacle, be transferred to singlechip controller (8) by serial ports, be used for the automatic obstacle avoiding of robot; GPS module (13) is used for location and the autonomous navigation of robot, makes robot according to the autonomous line walking of route of planning, and records the location information at doubtful fault place; Electromagnetic sensor (14) is used for the distance of monitoring human body (1) and ultra-high-tension power transmission line, surpasses safety distance, and singlechip controller (8) is regulated four motor speeds makes it be in safety distance.
5. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 1, it is characterized in that matching with body control unit (7), what use is ground control system, body control unit (7) and ground control system have consisted of general control system, control whole aircraft airflight, hover, the control of location and attitude; Ground control system comprises upper computer (16), wireless data transceiver module (15) and remote control equipment (RCE) (18), body control unit (7) receives in real time distribution of machine people's various flying qualities by wireless data transceiver module (15) and shows at upper computer (16), sends control command by remote control equipment (RCE) (18) and comes remote-receiver (17) to receive.
6. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 1, it is characterized in that inspection system comprises two-freedom adjustable apparatus (19), infrared thermoviewer (20), visible camera (21), described adjustable apparatus (19), infrared thermoviewer (20) are installed in respectively on four hold-down arms (5) junction; Adjustable apparatus (19) comprises driving steering wheel (23), base (24), vertical struts (25) and lateral rotation parts (26), driving steering wheel (23) is connected with vertical struts (25), be used for realizing the rotation of vertical struts (25) on longitudinal plane, vertical struts (25) one ends are connected with base (24), the other end is used for fixing lateral rotation parts (26), lateral rotation parts (26) are connected with visible camera (21), make visible camera (21) mobile in the horizontal, drive steering wheel (23) and lateral rotation parts (26) and make visible camera (21) in three-dimensional locomotivity.
7. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 6, it is characterized in that inspection system also comprises wireless video transmission module (22), infrared thermoviewer (20), the captured video of visible camera (21) transfers to the ground image processing unit by wireless video transmission module (22), this ground image processing unit comprises upper computer (16), wireless video receiver module (27) and image pick-up card (28), image pick-up card (28) is connected on the pci expansion slot of upper computer (16), wireless video receiver module (27) is connected with upper computer (16) by the USB mouth, wireless video transmission module (22) in time transmission of video that visible camera (21) and infrared thermoviewer (20) is captured to upper computer (16).
8. the HV Transmission Line Routing Inspection robot based on multi-rotor aerocraft according to claim 6, it is characterized in that dual-power module is comprised of no touch mutual inductance type power supply (29), storage battery (30) and power management module (31), electromagnetic induction coupling between no touch mutual inductance type power supply (29) and storage battery (30) pass through, power management module (31) is connected with storage battery (30), no touch mutual inductance type power supply (29) adopts the contactless energy transmission technology, by electromagnetic coupling structure, after overcommutation, filtering, storage battery (30) is charged; Power management module (31) is monitored and is managed storage battery (30).
9. one kind is utilized the described method of patrolling and examining based on the HV Transmission Line Routing Inspection robot realization of multi-rotor aerocraft of claim 1 to 8 any one, it is characterized in that step is as follows:
Step 1: at first control the line walking of realizing multi-rotor aerocraft by artificial/autonomous sharing, in this process, the video information real-time Transmission that wireless video transmission module (22) gathers infrared thermoviewer (20) and visible light camera (21) is to upper computer (16); Wireless data transceiver module (15) also feeds back to the destination position data that body control unit (7) gathers on the upper computer (16);
Step 2: upper computer (16) is stored video information in this locality, and video information processed, comprise visible images analysis and infrared image analysis the diagnosis, be defined as doubtful trouble point after, doubtful position of failure point information is sent to singlechip controller (8);
Step 3: by manually/independently sharing control, the current operation situation of intervening inspection robot, make inspection robot fly near the doubtful trouble point and keep floating state, then by adjustable apparatus (19) visible camera (21) is moved near the doubtful trouble point, carry out emphasis and detect, and obtain fault eigenvalue;
Step 4: the ground image processing unit compares doubtful trouble point eigenwert and fault eigenvalue threshold value, after being defined as the trouble point, store location information and fault type into data bank, wherein the fault signature threshold value is the benchmark that determines whether the trouble point, for different faults, different fault signature threshold values is set respectively, the video information of after line walking finishes upper computer (16) upward being stored is as the training sample of fault signature threshold value, adopt the k means clustering algorithm to classify, and the characteristic threshold value of definite different faults.
10. the HV Transmission Line Routing Inspection method based on multi-rotor aerocraft according to claim 9, it is characterized in that artificial/autonomous shared control is that the control command of autonomous navigation and the artificial control command that sends are merged in the upper computer of inspection robot, position and attitude from master control and the shared robot of manual control, finish the line walking task of robot, concrete steps are as follows:
(1) sends control command to singlechip controller (8) by ground control system, make the inspection robot ultra-high-tension power transmission line reference position of flying, by body control unit (7), hover in safety distance place in the distance reference position, then inspection robot begins autonomous line walking according to default course line, when concrete course line is set, carry out the low speed patrol flight according to good transmission tower gps coordinate prepared in advance with according to the safe flying height of tower height and setting;
(2) when autonomous line walking, gather two-dimensional video image by visible light camera (21), and pass to upper computer (16) by wireless video transmission module (22), also can show various flight parameter information on the upper computer (16) simultaneously, perhaps will store at upper computer (16) with the video image of gps coordinate location information, after flight finishes, video image is analyzed, prevented undetected or false retrieval; In this process, follow the tracks of the patrol flight of inspection robot in the man-machine interface (32) of operator on upper computer (16);
(3) in the line walking process, run into extraordinary circumstances, adopt artificial/autonomous sharing to control by the man-machine interface (32) on the upper computer (16), inspection robot is carried out the adjustment of attitude and position, should artificial/autonomous shared control be in singlechip controller (8), to carry out superposition according to predetermined weighted value by manual control order and autonomous control command that upper computer (16) or remote control equipment (RCE) (18) send by the operator, thereby the degree of freedom on inspection robot affects, and jointly changes position and the attitude of inspection robot;
(4) upper computer (16) sends to singlechip controller (8) with the adjustment of attitude and position, and default course line is revised.
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