PLC-based Obstacle Crossing Automated Control of Transmission Line Inspection Robot
Due to the problems of high centroid height and low stability coefficient in the application of conventional meth-ods in the obstacle crossing automated control of transmission line inspection robots,the obstacle crossing automation control of transmission line inspection robot based on PLC was studied.By combining the road condition information col-lected by ultrasonic sensors and cameras,obstacles were identified.By establishing a dynamic model for the obstacle crossing of the inspection robot,the robot's motion state was described.Using PLC to control the robot's obstacle cross-ing posture,PLC based automatic control of the transmission line inspection robot obstacle crossing was achieved.The ex-perimental results showed that under the application of the design method,the center of mass height of the robot was less than 5 mm,and the stability coefficient was above 0.85,which could achieve precise control of the inspection robot cross-ing obstacles.
PLCtransmission line inspection robotobstacle crossingautomated controldynamic model