Autonomous Behavior Intelligence Control of Self-Evolution Mobile Robot for High-Voltage Transmission Line in Complex Smart Grid

Table 4

Robot state vector.

Digit	Status meaning		Parameter
0	Vertical mechanism state	Robot mobile platform	0: move forward; 1: move backward
1	Horizontal mechanism state		0: move in; 1: move out
2	Stretch mechanism state		0: extend; 1: shorten
3	Rotation mechanism state		0: rotate clockwise; 1: rotate counterclockwise
4	Walking mechanism		0: walking; 1: stop
5	Insulator clamping mechanism state	Insulator maintenance	0: clamping; 1: release
6	Bowl head hanging plate clamping mechanism state		0: clamping; 1: release
7	W pin push mechanism status		0: push out; 1: push in
8	Drainage plate bolt tightening mechanism state	Drainage plate maintenance	0: tightening; 1: loosen
9	Damper clamping mechanism state	Damper maintenance	0: clamping; 1: release
10	Damper bolt tightening mechanism		0: clamping; 1: release
11	Damper bolt tightening pitch mechanism		0: up; 1: down