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Tilt sensors in robotics
A robot is a machine device that automatically performs work. It can accept commands from humans, run pre-arranged programs, or act according to principles established by artificial intelligence technology. Its task is to assist in replacing human work, such as in manufacturing, construction, or hazardous jobs. Inspection robots are one type of these machines; they are equipped with visible light cameras, infrared thermal imagers, microphones, ultrasonic sensors, tilt sensors, and more. They use trajectory navigation to autonomously or remotely patrol outdoor high-voltage equipment along the optimal path. Through methods such as machine vision, infrared temperature measurement, and sound detection, inspection robots can collect infrared thermal images, visuals, and audio information from equipment, automatically identifying thermal defects, appearance anomalies, the position of switches or circuit breakers, instrument readings, oil level gauge positions, etc. They generate standardized alarm items and inspection reports, sending alarm information to operating personnel and providing basic data for equipment status maintenance. In unattended or minimally attended substations or smart substations, especially in geographical conditions such as plateaus, low oxygen, high cold, or under severe weather conditions, inspection robots can replace or assist humans in performing inspection tasks on substation equipment.
When the inspection robot crosses obstacles, the moment caused by mass eccentricity disrupts the horizontal posture of the robot's body. To ensure smooth forward movement, a simple and reliable center of mass adjustment method is needed. This method uses tilt sensors to measure the angle between the robot's body and the horizontal plane, thereby controlling the movement of the counterweight block's motor to adjust the robot's center of mass to the arm suspended from the overhead ground wire. The measurement angle should be controlled within a range of 90°, with an accuracy of ±0.1°, ensuring that the robot's body maintains a horizontal posture and that the arms that need to be disconnected or connected can perform the corresponding actions. Finally, simulation experiments verified the feasibility of the center of mass adjustment control method.
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