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

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.