Overhead high-voltage transmission line deicing robot system and experiment study

Based on the further study of high-voltage transmission line deicing environment, this paper proposed a wheel milling deicing device and a compound deicing robot that can have double wheel milling and compressing wheel rolling simultaneously; implemented deicing experiment and obstacle negotiation simulation analysis on the transmission and robot mechanic system; proposed an obstacle negotiation navigation control method based on electro-magnetic sensors, and finally implemented deicing experiment and obstacle negotiation experiment on deicing robot prototypes. The experiment demonstrates the feasibility of electromagnetic navigation technology in leading robot in obstacle negotiation, and also shows that it's possible to use compound deicing method of milling and compressing wheel rolling.