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Design and realization of electromagnetic navigation systems for power transmission line inspection robots

WU Zhou1,FANG Yan-jun1,ZHAO Peng2(1.Dept.of Automation,Wuhan Univ.,Hubei 430072,China;2.Shanxi Electric Power Research Institute,Xian 710054,China)  
The electromagnetic navigation method for the power transmission line inspection robot is studied.By using the voltage information from some electromagnetic sensor arrays,the robot′s relative position to the power line or the barriers on the line can be obtained.The robot can realize automatic barriers passing and intelligent navigation.Since the electromagnetic sensor′s output signal is weak and is subject to the influence of the outside environment when it works,to solve the problem,the IIR digital filter was designed to choose the amplified signals in order to filter the different frequency disturbances.The IIR filter program was also designed in the PC104 processor,which enables the software to perform in a real-time manner.Tests prove the method simple and effective.
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