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发明授权
CN106239505B 一种输电线路巡检机器人故障诊断与复位方法 有权 转让

一种输电线路巡检机器人故障诊断与复位方法
摘要：
本发明公开了一种输电线路巡检机器人故障诊断与复位方法，包括如下步骤：当展臂机构运动、并检测到用以驱动所述展臂机构的驱动器的反馈计数不呈线性变化时，并且检测到所述展臂机构的展臂传感器无限位信号产生时，则控制输电线路巡检机器人停止运行；和/或，当所述输电线路巡检机器人运行时，机器人传感器的输出信号不变化，则通过驱动电流控制所述输电线路巡检机器人的运行状态；和/或，当所述输电线路巡检机器人向控制基站发送指令后，未收到反馈信息时，则重启路由器。上述输电线路巡检机器人故障诊断与复位方法，能够快速准确的进行自主故障诊断，进行故障修复工作，为线路巡检机器人正常运行提供保障。
摘要（英）：

The invention discloses a fault diagnosing and resetting method for an electric transmission line patrol robot. The fault diagnosing and resetting method for the electric transmission line patrol robot comprises the following steps that when an arm spreading mechanism moves and detects that the feedback count of a driver used for driving the arm spreading mechanism is not in linear variation and an arm spreading sensor of the arm spreading mechanism generates infinite place signals, the electric transmission line patrol robot is controlled to stop; and/or, when the electric transmission line patrol robot operates, output signals of a robot sensor do not change, the operation state of the electric transmission line patrol robot is controlled through a drive current; and/or, when no feedback information is received after the electric transmission line patrol robot sends instructions to a control base station, a router is restarted. By the adoption of the fault diagnosing and resetting method for the electric transmission line patrol robot, automatic fault diagnosis can be rapidly and accurately conducted, fault correcting work can be conducted, and a guarantee is provided for normal operation of the electric transmission line patrol robot.

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