CN103762521A - Slip detection device and slip control method of high-voltage line patrol robot - Google Patents

Slip detection device and slip control method of high-voltage line patrol robot Download PDF

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Publication number
CN103762521A
CN103762521A CN201410060400.1A CN201410060400A CN103762521A CN 103762521 A CN103762521 A CN 103762521A CN 201410060400 A CN201410060400 A CN 201410060400A CN 103762521 A CN103762521 A CN 103762521A
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China
Prior art keywords
crusing robot
robot
slip
voltage line
crusing
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CN201410060400.1A
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Chinese (zh)
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CN103762521B (en
Inventor
王伟
吴功平
胡健
白玉成
杨智勇
周鹏
何缘
江维
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Wuhan University WHU
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Wuhan University WHU
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Publication of CN103762521B publication Critical patent/CN103762521B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a slip detection device and a slip control method of a high-voltage line patrol robot. The slip detection device comprises a pair of pressing wheels, annular array magnetic steel, a Hall sensor, an inclination angle sensor and an acceleration sensor. The slip detection device can measure the inclination angle and the acceleration of the line patrol robot and the linear speed of the pressing wheels can be converted into a level signal of the Hall sensor to be output. According to the slip control method, the ratio between the speed of walking wheels and the speed of the pressing wheels of the line patrol robot can be used for judging the slip state. A corresponding control strategy is used for preventing the slip phenomenon from occurring and the acceleration sensor and the inclination sensor are used for judging whether the line patrol robot is in an uphill slip state and a downhill loosening state or not respectively so as to provide more bases for a pressing motor control strategy. The slip phenomenon of the line patrol robot in the line patrol process can be rapidly processed with the slip detection device and the slip control method. The line adaptability of the line patrol robot is improved and energy consumption of the line patrol robot is reduced.

Description

A kind of slip detector of inspection robot for high-voltage line and slip control method
Technical field
The invention belongs to field of electrical equipment, relate to a kind of slip detector and slip control method, refer more particularly to a kind of slip detector and slip control method of inspection robot for high-voltage transmission lines.
Background technology
Traditional polling transmission line method is mainly take artificial line walking as main, and its line walking efficiency is low, and labour intensity is large, the frequent field work of workman, work under bad environment, and cross over high mountain, thick forest, great river transmission line shelves section to patrol and examine difficulty larger.Adopt helicopter routing inspection efficiency higher, but its deficiency in economic performance, and easily ignore the trickle damage of transmission line.Adopt crusing robot to patrol and examine and can overcome above shortcoming, it is patrolled and examined, and efficiency is high, and imaging effect is good, is the inexorable trend that Robotics combines with polling transmission line technical development.
In transmission line polling robot line walking process, the problem of skidding is the technical barrier of giving prominence to very much, and crusing robot contacts with circuit by road wheel, and road wheel utilizes the frictional force drives robot motion between itself and circuit while rotating.But, different circuits, the different shelves sections of same transmission line, the different environment of patrolling and examining, the impact of sleety weather, the difference of the conditions such as the corrosion situation on circuit surface, makes the coefficient of friction difference on circuit surface very large.And crusing robot faces high drop often, patrolling and examining of large span shelves section transmission line, line slope is large, adding its surface appearance complexity, robot skidding occurs in line walking process often, and this phenomenon greatly reduces the efficiency of crusing robot line walking, fail safe and circuit adaptability, increase the energy resource consumption of crusing robot, accelerate the wearing and tearing of crusing robot parts.Therefore, find out and a kind ofly detect and control the apparatus and method of skidding and seem particularly necessary.
Tradition is controlled the method for skidding and is mainly taked Artificial Control, operator the compression of ground base station control crusing robot clamping motor with unclamp, when climbing or descending occurs skidding situation, the cradle head camera being loaded with by crusing robot is observed and is determined the situation of skidding, by the benefit manually giving to a certain degree, clamp again, again observe the situation of skidding and whether occur, if occurred, again manually add tightly, so circulation.This kind of method control efficiency is very low, is difficult to judge slight slip phenomenon, also needs the cradle head camera moment to monitor, has hindered the normal line walking of cradle head camera.Also likely there is situation about compressing, while applying excessive thrust when climbing or descending, although reached non-slip object, but the excessive robot ambulation resistance that causes of thrust becomes large, robot ambulation motor and clamping motor are all by heavy-duty service, reduce the useful life of motor and mechanical part, increased the energy consumption of robot.In addition also have a kind of angle tilting by robot as condition, to carry out the method for thrust control, when robot climbing or the angle of descending is when larger, by crusing robot clamping motor, give larger thrust, when angle hour, give less thrust, but this kind of method ignored the concrete condition on different circuits surface, therefore, still may occur skidding or crossing situation about compressing, it adapts to the indifferent of circuit.
Summary of the invention
The present invention solves the problem that prior art exists, and provides a kind of and can detect the device whether crusing robot skid the moment and propose a kind of slip control method that can automatically carry out by the situation of skidding thrust control.
The technical scheme that device of the present invention is adopted is: a kind of slip detector of inspection robot for high-voltage line, be arranged on inspection robot for high-voltage line, it is characterized in that: comprise pair of pinch rollers, circumference array magnet steel, Hall element, obliquity sensor and acceleration transducer; Described pair of pinch rollers, is symmetrically arranged on the contact roller support of crusing robot, is adjacent to wire relative up and down with the road wheel of crusing robot; Described circumference array magnet steel, is embedded in contact roller one side; Described Hall element, is arranged on contact roller support; Described obliquity sensor and acceleration transducer, be arranged at respectively crusing robot internal body; Described Hall element, obliquity sensor and acceleration transducer provide electric power by crusing robot.
As preferably, described circumference array magnet steel one side is concordant with described contact roller side.
As preferably, described Hall element detection faces and circumference array magnet steel end face are just right, for detection of the field signal to circumference array magnet steel end face, and are translated into level signal output.
The technical scheme that method of the present invention adopts is: a kind of slip detector that utilizes inspection robot for high-voltage line method of controlling of skidding, it is characterized in that, and comprise the following steps:
Step 1: set the speed of crusing robot, and start constant speed and patrol and examine;
Step 2: judgement, patrol and examine and stop?
If so, crusing robot stops patrolling and examining, and this flow process finishes;
If not, continue to carry out following step 3;
Step 3: the pulse signal being returned by described Hall element calculates the linear velocity of described contact roller;
Step 4: the linear velocity calculating and described crusing robot road wheel linear velocity are contrasted to the described crusing robot of judgement and whether skid;
If so, carry out following step 5;
If not, carry out following step 6;
Step 5: the acceleration direction of returning according to described acceleration transducer is consistent with described crusing robot direction of travel judges that described crusing robot is in upward slope slip-down state?
If so, adopt fast-holding strategy to prevent described crusing robot and glide, then described step 2 is carried out in revolution;
If not, adopt and compress control strategy, then described step 2 is carried out in revolution;
Step 6: need to carry out descending unclamp operation according to the described described crusing robot of obliquity sensor return value judgement? if so, adopt and unclamp control strategy, then described step 2 is carried out in revolution;
If not, directly described step 2 is carried out in revolution.
As preferably, described compression control strategy and unclamp control strategy and carry out by described clamping motor.
As preferably, whether the crusing robot described in the judgement described in step 4 skids, its specific implementation process is first Hall element gained signal to be converted into contact roller peripheral speed, make the road wheel linear velocity comparison of itself and described crusing robot, if ratio is interval near being positioned at 1, there is not skidding, if ratio is not or not this interval, skid.
As preferably, whether the crusing robot described in the judgement described in step 5 is in upward slope slip-down state, its specific implementation process is to work as the road wheel of described crusing robot at the uniform velocity to climb in driving process, if the acceleration direction that described acceleration transducer records is the opposite direction of crusing robot travel direction, judge that crusing robot glides; Described road wheel, in descending process at the uniform velocity, if the acceleration direction that described acceleration transducer records is crusing robot travel direction, judges that crusing robot skids.
As preferably, whether the crusing robot described in the judgement described in step 6 needs to carry out descending unclamp operation, its specific implementation process is first by described crusing robot travel direction and described obliquity sensor angle-data, whether judge described crusing robot in descending state, as in descending state, at certain angle, change crusing robot afterwards and take descending release strategy control clamping motor slowly to reduce thrust.
With respect to prior art, tool of the present invention has the following advantages:
1. can accurately draw crusing robot actual motion speed by slip detector, and can accurately judge that whether robot is in slipping state, in which kind of slipping state;
2. it is strong that the detection method of skidding adapts to line capacity, can regulate thrust to skid to overcome according to circuit concrete condition;
3. can prevent that compression phenomenon from occurring, prolonged mechanical part and motor useful life, protection circuit, reduces robot energy consumption;
4. detection and the slip control method efficiency of skidding is high, and the moment that can skid at crusing robot regulates thrust, without manual intervention, participates in, without intervening the normal line walking work of crusing robot without airborne other equipment of crusing robot.
Accompanying drawing explanation
Fig. 1: be the checkout gear schematic diagram of the embodiment of the present invention.
Fig. 2: be checkout gear circumference array magnet steel and the Hall element position details figure of the embodiment of the present invention.
Fig. 3: be the slip control method control flow chart of the embodiment of the present invention.
Embodiment
For the ease of those of ordinary skills, understand and implement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail.
Ask for an interview Fig. 1, Fig. 2, the technical scheme that device of the present invention adopts is: a kind of slip detector of inspection robot for high-voltage line, be arranged on inspection robot for high-voltage line, comprise pair of pinch rollers 3, circumference array magnet steel 2, Hall element 4, obliquity sensor 7 and acceleration transducer 8; Pair of pinch rollers 3, is symmetrically arranged on the contact roller support 5 of crusing robot, is adjacent to wire 11 relative up and down with the road wheel 1 of crusing robot; Circumference array magnet steel 2, is embedded in contact roller 3 one sides, and circumference array magnet steel 2 one sides are concordant with contact roller 3 sides; When contact roller 3 is adjacent to wire and occurs to roll, Hall element 4 can detect that circumference array magnet steel 2 rotates and the pulsed magnetic field that produces, and is output as corresponding level signal; Hall element 4, is arranged on contact roller support 5, and Hall element 4 detection faces and circumference array magnet steel 2 end faces are just right, for detection of the field signal to circumference array magnet steel 2 end faces, and is translated into level signal output; Obliquity sensor 7 and acceleration transducer 8, be arranged at respectively inspection machine human organism 9 inside, described obliquity sensor 7 can be measured described crusing robot running gradient data, for the positive negative value of angles of display, acceleration transducer 8 detection sides are to consistent with crusing robot forward-reverse direction, for detection of the acceleration to crusing robot forward-reverse direction; Hall element 4, obliquity sensor 7 and acceleration transducer 8 provide electric power by crusing robot.
Ask for an interview Fig. 3, the technical scheme that method of the present invention adopts is: a kind of method of skidding and controlling of inspection robot for high-voltage line, comprises the following steps:
Step 1: set the speed of crusing robot, and start constant speed and patrol and examine;
Step 2: judgement, patrol and examine and stop?
If so, crusing robot stops patrolling and examining, and this flow process finishes;
If not, continue to carry out following step 3;
Step 3: the pulse signal being returned by described Hall element 4 calculates the linear velocity of described contact roller 3;
Step 4: the linear velocity calculating and described crusing robot road wheel 1 linear velocity are contrasted to the described crusing robot of judgement and whether skid;
If so, carry out following step 5;
If not, carry out following step 6;
Wherein whether the described crusing robot of judgement skids, its specific implementation process is first Hall element 4 gained signals to be converted into contact roller 3 peripheral speeds, make the road wheel 1 linear velocity comparison of itself and described crusing robot, if ratio is interval near being positioned at 1, there is not skidding, if ratio, in this interval, does not skid.
Step 5: the acceleration direction of returning according to described acceleration transducer 8 is consistent with described crusing robot direction of travel judges that described crusing robot is in upward slope slip-down state?
If so, adopt fast-holding strategy to prevent described crusing robot and glide, then described step 2 is carried out in revolution;
If not, adopt and compress control strategy, by described clamping motor 6, carried out, then described step 2 is carried out in revolution;
Wherein whether the described crusing robot of judgement is in upward slope slip-down state, its specific implementation process is to work as the road wheel 1 of described crusing robot at the uniform velocity to climb in driving process, if the acceleration direction that described acceleration transducer 8 records is the opposite direction of crusing robot travel direction, judge that crusing robot glides; Described road wheel 1, in descending process at the uniform velocity, if the acceleration direction that described acceleration transducer 8 records is crusing robot travel direction, judges that crusing robot skids.
Step 6: need to carry out descending unclamp operation according to the described crusing robot of described obliquity sensor 7 return value judgement?
If so, adopt and unclamp control strategy, by described clamping motor 6, carried out, then described step 2 is carried out in revolution;
If not, directly described step 2 is carried out in revolution.
Wherein whether the described crusing robot of judgement needs to carry out descending unclamp operation, its specific implementation process is first by described crusing robot travel direction and described obliquity sensor 7 angle-datas, whether judge described crusing robot in descending state, as in descending state, at certain angle, change crusing robot afterwards and take descending release strategy control clamping motor 6 slowly to reduce thrust.
Workflow of the present invention is:
Step 1: whether each several part is normal to detect above-mentioned slip detector, specifically comprise: rotate contact roller 3, can detect Hall element 4 normally work and return to pulse signal, check that can obliquity sensor 7 correctly return to robot angle of inclination and direction, can sense acceleration transducer 8 correctly return to robot acceleration information.After all component workings are normal, carry out next step.
Step 2: a pair of described crusing robot road wheel 1 is hung on circuit, control clamping motor 6, make contact roller 3 and wire 11 in contact condition, now thrust can be ignored, by ground base station, send crusing robot control command, order its constant speed to be patrolled and examined.
Step 3: after crusing robot constant speed is patrolled and examined, due to contact roller 3 contact wires 11, so contact roller 3 can random device people be walked and rotate, the circumference array magnet steel 2 of wedge pressure bearing up pulley 3 inside starts to circle, and approach one by one Hall element 4, now Hall element 4 is transformed into the output of impulse level signal by pulse electromagnetic signal.
Step 4: control system acquisition pulse transition times is calculated contact roller 3 rotating cycles, and then the velocity of rotation of calculating contact roller 3, the actual linear velocity of contact roller 3 adopts following formula to calculate:
V p ( Δt ) = 2 π R p N p n p ( t 2 - t 1 ) = 2 π R p N p n p Δt
N in formula pfor t 1to t 2the umber of pulse that moment records, n pfor contact roller revolves the umber of pulse turning around, V p(Δ t) is illustrated in the average linear velocity in the time period, R pfor contact roller radius.
Step 5: the contact roller having calculated 3 linear velocities are drawn to the two ratio divided by the given polling rate of crusing robot road wheel 1, according to ratio in judgement robot, whether skid, when ratio is near 1 in given area time, judge that robot skids, when ratio is not in this is interval, judge that skidding occurs for it.This is interval definite by crusing robot experimental data.This step will occur in the judgement of step 6, step 7 and adjustment process simultaneously.
Step 6: carry out next step action by the judgement result of skidding, if be not judged as, do not skid, judge whether it meets descending release conditions, be specially: crusing robot is in descending line walking process, and do not skid, crusing robot will take to unclamp control strategy control clamping motor 6 after angle occurs to a certain degree to change, and slowly unclamp contact roller 3, prevent contact roller 3 and cross compression wire 11.The degree that concrete angle changes is determined by crusing robot experimental data.Whether contact roller 3 unclamps and detects crusing robot simultaneously and skid; If the discontented foot of robot slope release conditions, continues to judge whether robot skids.
Step 7: when crusing robot skids, judge that whether robot is in upward slope slip-down state, be specially, when crusing robot upward slope line walking, if robot skids, and acceleration transducer 8 acceleration directions are crusing robot direction of fall along the line, can judge that robot is in acceleration slip-down state.This state need adopt fast-holding policy control clamping motor 6 to supplement rapidly thrust and prevent downslide, until crusing robot no longer skids.If crusing robot does not meet upward slope slip-down state, judge that crusing robot, in common slipping state, now takes to compress control strategy, by controlling clamping motor 6, slowly supplement contact roller 3 thrusts, until crusing robot no longer skids.
Step 8: when crusing robot receives while stopping patrolling and examining order in arbitrary step, crusing robot brakes immediately and suspends all Detection & Controling strategies, waits for that ground base station sends other control commands.
Although more used the terms such as the road wheel 1, circumference array magnet steel 2, contact roller 3, Hall element 4, contact roller support 5, clamping motor 6, obliquity sensor 7, acceleration transducer 8, inspection machine human organism 9, screw mandrel 10, wire 11 of crusing robot herein, do not got rid of the possibility of using other terms.Use these terms to be only used to describe more easily essence of the present invention, they are construed to any additional restriction is all contrary with spirit of the present invention.Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can do various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.

Claims (8)

1. the slip detector of an inspection robot for high-voltage line, be arranged on inspection robot for high-voltage line, it is characterized in that: comprise pair of pinch rollers (3), circumference array magnet steel (2), Hall element (4), obliquity sensor (7) and acceleration transducer (8); Described pair of pinch rollers (3), the contact roller support (5) that is symmetrically arranged on crusing robot is upper, is adjacent to wire (11) relative up and down with the road wheel (1) of crusing robot; Described circumference array magnet steel (2), is embedded in contact roller (3) one sides; Described Hall element (4), is arranged on contact roller support (5); Described obliquity sensor (7) and acceleration transducer (8), be arranged at respectively inspection machine human organism (9) inside; Described Hall element (4), obliquity sensor (7) and acceleration transducer (8) provide electric power by crusing robot.
2. the slip detector of inspection robot for high-voltage line according to claim 1, is characterized in that: described circumference array magnet steel (2) one sides are concordant with described contact roller (3) side.
3. the slip detector of inspection robot for high-voltage line according to claim 1, it is characterized in that: described Hall element (4) detection faces and circumference array magnet steel (2) end face are just right, for detection of the field signal to circumference array magnet steel (2) end face, and be translated into level signal output.
4. utilize the slip detector of the inspection robot for high-voltage line described in claim 1 method of controlling of skidding, it is characterized in that, comprise the following steps:
Step 1: set the speed of crusing robot, and start constant speed and patrol and examine;
Step 2: judgement, patrol and examine and stop?
If so, crusing robot stops patrolling and examining, and this flow process finishes;
If not, continue to carry out following step 3;
Step 3: the pulse signal being returned by described Hall element (4) calculates the linear velocity of described contact roller (3);
Step 4: the linear velocity calculating and described crusing robot road wheel (1) linear velocity are contrasted to the described crusing robot of judgement and whether skid;
If so, carry out following step 5;
If not, carry out following step 6;
Step 5: the acceleration direction of returning according to described acceleration transducer (8) is consistent with described crusing robot direction of travel judges that described crusing robot is in upward slope slip-down state?
If so, adopt fast-holding strategy to prevent described crusing robot and glide, then described step 2 is carried out in revolution;
If not, adopt and compress control strategy, then described step 2 is carried out in revolution;
Step 6: need to carry out descending unclamp operation according to the described crusing robot of described obliquity sensor (7) return value judgement?
If so, adopt and unclamp control strategy, then described step 2 is carried out in revolution;
If not, directly described step 2 is carried out in revolution.
5. the method for skidding and controlling of inspection robot for high-voltage line according to claim 4, is characterized in that: described compression control strategy and unclamp control strategy and carry out by described clamping motor (6).
6. the method for skidding and controlling of inspection robot for high-voltage line according to claim 4, it is characterized in that: whether the crusing robot described in the judgement described in step 4 skids, its specific implementation process is first Hall element (4) gained signal to be converted into contact roller (3) peripheral speed, make road wheel (1) the linear velocity comparison of itself and described crusing robot, if ratio is interval near being positioned at 1, there is not skidding, if ratio is not or not this interval, skid.
7. the method for skidding and controlling of inspection robot for high-voltage line according to claim 4, it is characterized in that: whether the crusing robot described in the judgement described in step 5 is in upward slope slip-down state, its specific implementation process is to work as the road wheel (1) of described crusing robot at the uniform velocity to climb in driving process, if the acceleration direction that described acceleration transducer (8) records is the opposite direction of crusing robot travel direction, judge that crusing robot glides; Described road wheel (1), in descending process at the uniform velocity, if the acceleration direction that described acceleration transducer (8) records is crusing robot travel direction, judges that crusing robot skids.
8. the method for skidding and controlling of inspection robot for high-voltage line according to claim 4, it is characterized in that: whether the crusing robot described in the judgement described in step 6 needs to carry out descending unclamp operation, its specific implementation process is first by described crusing robot travel direction and described obliquity sensor (7) angle-data, whether judge described crusing robot in descending state, as in descending state, at certain angle, change crusing robot afterwards and take descending release strategy control clamping motor (6) slowly to reduce thrust.
CN201410060400.1A 2014-02-21 2014-02-21 A kind of slip detector of inspection robot for high-voltage line and slip control method Expired - Fee Related CN103762521B (en)

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CN105429050A (en) * 2015-12-22 2016-03-23 广东科凯达智能机器人有限公司 Press wheel device for inspection robot of overhead high-voltage power transmission line
CN105690404A (en) * 2016-04-20 2016-06-22 武汉大学 Manipulator device at tail end of double-foot robot for power transmission line
CN106092187A (en) * 2015-12-17 2016-11-09 李英 High-tension line ambient parameter gathers alarm platform
CN108681325A (en) * 2018-05-14 2018-10-19 珠海市微半导体有限公司 Elevation angle detection method of the robot based on accelerometer and by card detection and off card method
CN109282663A (en) * 2018-09-30 2019-01-29 四川德胜集团钒钛有限公司 A kind of ring cold machine transmission slip monitoring device
CN109612754A (en) * 2018-11-30 2019-04-12 国电南瑞科技股份有限公司 A kind of line robot grade climbing performance detection device
CN110174257A (en) * 2019-06-28 2019-08-27 北京云迹科技有限公司 The method and device that the indoor wheeled wheels of robot of detection skids
CN111038509A (en) * 2019-12-09 2020-04-21 广东科凯达智能机器人有限公司 Line inspection robot slip identification and intelligent self-adaptive control method
CN111570134A (en) * 2020-04-28 2020-08-25 湖北工业大学 Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106092187A (en) * 2015-12-17 2016-11-09 李英 High-tension line ambient parameter gathers alarm platform
CN106092187B (en) * 2015-12-17 2018-01-30 刘秀兰 High-tension line ambient parameter gathers alarm platform
CN105429050A (en) * 2015-12-22 2016-03-23 广东科凯达智能机器人有限公司 Press wheel device for inspection robot of overhead high-voltage power transmission line
CN105690404A (en) * 2016-04-20 2016-06-22 武汉大学 Manipulator device at tail end of double-foot robot for power transmission line
CN105690404B (en) * 2016-04-20 2017-07-11 武汉大学 A kind of transmission line of electricity biped robot end robot device
CN108681325A (en) * 2018-05-14 2018-10-19 珠海市微半导体有限公司 Elevation angle detection method of the robot based on accelerometer and by card detection and off card method
CN109282663A (en) * 2018-09-30 2019-01-29 四川德胜集团钒钛有限公司 A kind of ring cold machine transmission slip monitoring device
CN109612754A (en) * 2018-11-30 2019-04-12 国电南瑞科技股份有限公司 A kind of line robot grade climbing performance detection device
CN109612754B (en) * 2018-11-30 2021-06-04 国电南瑞科技股份有限公司 Climbing performance detection device for line robot
CN110174257A (en) * 2019-06-28 2019-08-27 北京云迹科技有限公司 The method and device that the indoor wheeled wheels of robot of detection skids
CN111038509A (en) * 2019-12-09 2020-04-21 广东科凯达智能机器人有限公司 Line inspection robot slip identification and intelligent self-adaptive control method
WO2021114509A1 (en) * 2019-12-09 2021-06-17 广东科凯达智能机器人有限公司 Slippage identification and intelligent adaptive control method for patrol robot
CN111570134A (en) * 2020-04-28 2020-08-25 湖北工业大学 Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint

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