Design and Application of Remote Control System in Finder, a Vibration damper Recover Robot on Power Line

The vibration damper installed on the overhead line is used to reduce the vibration caused by the wind. But the bolt of vibration damper will loosen and the damper will deviate from the mounting point to other locations because of continuing vibration. So that vibration damper recover robot has been design to improve work efficiency and reduce the risk of manual operation. The control system is the essential to ensure the robot to complete the resetting of the vibration damper. This paper, based on STM32 microprocessor, designed a set of reset robot control system including main control module, servo drive module, detection module, communication module and ground control unit. A set of control software is designed for these hardware, including the main program service module, the robot motion control module, the sensor information acquisition module and the communication protocol. Therefore the design of the control system including hardware and software of the vibration damper recover robot is completed. Through the remote control, the robot completed a series of tasks which contained line-patrol movement, reset operation and tightening the bolt. Furthermore, the control system designed in this paper has been experimentally verified, which reflects the feasibility and reliability of the control system.