架空输电线路机器人全自主巡检系统及示范应用

发布时间：2018-01-11 08:10

本文关键词：架空输电线路机器人全自主巡检系统及示范应用　出处：《高电压技术》2017年08期 　论文类型：期刊论文

【摘要】：机巡作业是当前电力巡检的主要发展方向,但与直升机、无人机以及变电站机器人相比,我国输电线路机器人巡检尚未达到实用化水平。为此,对输电线路机器人实用化巡检关键技术开展了研究,建立了机器人典型作业模式,研发了穿越式、跨越式两类巡检机器人,提出了机器人行走路径改造方法,首次设计了机器人自动上下线装置,并完成了机器人全自主巡检系统的研制。机器人通过了多种复杂自然环境和电磁环境工况的试验考核,以及户外真型线路试验段的功能测试,在500 k V带电运行线路开展示范应用,对线路设备同时进行可见光和红外检测。巡检中暴露了巡检系统存在的问题并进行分析解决,提出了机器人异常情况下的紧急救援措施并成功开展带电救援作业。机器人单次巡检里程达到10 km以上,巡检应用取得良好效果,机器人巡检系统达到一定的实用化水平。
[Abstract]:Machine patrol is the main development direction of electric power inspection at present, but compared with helicopter, UAV and substation robot, the inspection of transmission line robot in our country has not reached the practical level. The key technology of practical inspection of transmission line robot is studied, the typical operation mode of robot is established, two kinds of walking inspection robots are developed, and the reconstruction method of robot walking path is put forward. For the first time, the robot automatic up and down line device is designed, and the whole autonomous inspection system of the robot is developed. The robot has passed a variety of complex natural and electromagnetic environment conditions of the test examination. As well as the function test of outdoor real circuit test section, the demonstration application is carried out in 500kV live running circuit. At the same time, the line equipment is detected by visible light and infrared. During the inspection, the problems existing in the inspection system are exposed and the problems are analyzed and solved. The emergency rescue measures under the abnormal condition of robot are put forward and the electrified rescue operation is successfully carried out. The mileage of the robot's single inspection is more than 10 km, and the application of the inspection has achieved good results. The robot inspection system has reached a certain practical level.
【作者单位】：广东电网有限责任公司电力科学研究院;武汉大学动力与机械学院;广东电网有限责任公司惠州供电公司;
【基金】：南方电网公司重点科技项目(K-GD2014-0621) 国家高技术研究发展计划(863计划)(2006AA04Z202)~~
【分类号】：TM755;TP242
【正文快照】： 0引言1我国地域辽阔,各地区的地理气候等自然环境差异较大,电力线路巡检经常需要经过高山、江河、湖泊地区,并且经常遭遇严重覆冰等自然灾害,使得电力线路巡检任务繁重和异常艰难。传统人工巡线存在工作量大、效率低、巡检准确度低且危险性高等缺点。随着我国电网规模增大,而

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