架空输电线路智能机器人全自主巡检技术及应用
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摘要
针对输电线路机器人巡检实用化问题,研发了机器人全自主巡检作业涉及的自主越障、自主定位、自主故障诊断与复位、自主巡检等四大关键技术,详细介绍了各项技术原理与实现方法。建立了机器人可自恢复故障、可替换故障和需修复故障等三种典型故障模式及诊断修复策略,开展了机器人户外真型线路巡检试验。首次完成了南方电网500 kV带电运行线路机器人巡检,对机器人自主巡检技术、故障诊断修复策略以及自主巡检作业流程进行了验证和考核。机器人上线单次巡检里程达到10 km以上,巡检应用取得良好效果。
Aiming at the practice of intelligent robot inspection of transmission lines,four key control technologies of the robot's automatic inspection operations are developed including automatically passing over obstacles,automatically positioning,automatic fault diagnosis and restoration,automatic inspection The principle and implementation method of the control technology are introduced in detail. Three typical failure modes of the robot,i. e.,the self recovery fault,the replacement fault and the fault need to repair,and their diagnosis and repair strategies are established. The robot inspection test on real outdoor line is carried out. Robot inspection demonstration application of 500 k V live line in China Southern Power Grid is completed for the first time. The robot inspection control technology,fault diagnosis and repair strategy,as well as the independent inspection process are verifid and assessed. The robot has a single time inspection mileage of over 10 km,and the inspection application has achieved good results.
Aiming at the practice of intelligent robot inspection of transmission lines,four key control technologies of the robot's automatic inspection operations are developed including automatically passing over obstacles,automatically positioning,automatic fault diagnosis and restoration,automatic inspection The principle and implementation method of the control technology are introduced in detail. Three typical failure modes of the robot,i. e.,the self recovery fault,the replacement fault and the fault need to repair,and their diagnosis and repair strategies are established. The robot inspection test on real outdoor line is carried out. Robot inspection demonstration application of 500 k V live line in China Southern Power Grid is completed for the first time. The robot inspection control technology,fault diagnosis and repair strategy,as well as the independent inspection process are verifid and assessed. The robot has a single time inspection mileage of over 10 km,and the inspection application has achieved good results.
引文
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[17]麦晓明,王柯,彭向阳,等.输电线路巡视机器人穿越式过塔技术研究[J].广东电力,2015,28(9):113-118.MAI Xiaoming,WANG Ke,PENG Xiangyang,et al.Research on pass-through-tower technology of power transmission line patrol robot[J].Guangdong Electric Power,2015,28(9):113-118.
[18]吴功平,杨智勇,王伟,等.巡检机器人自主充电对接控制方法[J].哈尔滨工业大学学报,2016,48(7):15-21.WU Gongping,YANG Zhiyong,WANG Wei,et al.An auto-docking charging control method for the inspection robot[J].Journal of Harbin Institute of Technology.2016,48(7):15-21.
[2]张柯,李海峰,王伟.浅议直升机作业在我国特高压电网中的应用[J].高电压技术,2006,32(6):45-46,55.ZHANG Ke,LI Haifeng,WANG Wei.Analysis of helicopter patrol application prospect in China's UHV grid[J].High Voltage Engineering,2006,32(6):45-46,55.
[3]于德明,武艺,陈方东,等.直升机特高压交流输电线路巡视中的应用[J].电网技术,2010,34(2):29-32.YU Deming,WU Yi,CHEN Fangdong,et al.Application of helicopter patrol technology in UHV AC transmission line[J].Power System Technology,2010,34(2):29-32.
[4]彭向阳,陈驰,徐晓刚,等.基于无人机激光扫描的输电通道安全距离诊断技术[J].电网技术,2014,38(11):3254-3259.PENG Xiangyang,CHEN Chi,XU Xiaogang,et al.Transmission corridor safety distance diagnosis based on point cloud and unmanned aerial vehicle loaded airborne laser scanning[J].Power System Technology,2014,38(11):3254-3259.
[5]张文峰,彭向阳,钟清,等.基于遥感的电力线路安全巡检技术现状及展望[J].广东电力,2014,27(2):1-6.ZHANG Wenfeng,PENG Xiangyang,ZHONG Qing,et al.Status quo and expectation of safety inspection technology for electric power line based on remote sensing[J].Guangdong Electric Power,2014,27(2):1-6.
[6]彭向阳,钱金菊,麦晓明,等.大型无人直升机电力线路全自动巡检技术及应用[J].南方电网技术,2016,10(2):24-31.PENG Xiangyang,QIAN Jinju,M AI Xiaoming,et al.Automatic power line inspection technology of large unmanned helicopter and its application[J].Southern Power System Technology,2016,10(2):24-31.
[7]彭向阳,陈驰,饶章权,等.基于无人机多传感器数据采集的电力线路安全巡检及智能诊断[J].高电压技术,2015,42(1):159-166.PENG Xiangyang,CHEN Chi,RAO Zhangquan,et al.Safety inspection and intelligent diagnosis of transmission line based on unmanned helicopter of sensor data acquisition[J].High Voltage Engineering,2015,42(1):159-166.
[8]王柯,麦晓明,许志海,等.无人机在湛江电网台风应急巡检中的应用[J].广东电力,2015,28(9):107-112,118.WANG Ke,M AI Xiaoming,XU Zhihai,et al.Application of unmanned aerial vehicle in emergency inspection on Zhanjiang power grid[J].Guangdong Electric Power,2015,28(9):107-112,118.
[9]郑武略,张富春,焦炯,等.多旋翼无人机在输电线路巡检中的应用[J].中国电业(技术版),2016(4):70-73.ZHENG Wulue,ZHANG Fuchun,JIAO Jiong,et al.Application of multi-totor UAV in transmission line inspection[J].China Electric Power(Technology Edition),2016(4):70-73.
[10]WANG Hongguang,JIANG Yong,LIU Aihua,et al.Research of power transmission line maintenance robots in SIACAS[C]//IEEE International Conference on Applied Robotics for the Power Industry,October 5-7,2010,M ontreal,Canada.Piscataway:IEEE,2010:1-7.
[11]POULIOT N,MONTAMBAULT S.Geometric design of the line scout:a teleoperated robot for power line inspection and maintenance[C]//IEEE International Conference of Robotics and Automation(ICRA 2008),M ay 19-23,2008,Tokyo,Japan.Piscataway:IEEE,2008:3970-3977.
[12]DEBENEST P.Expliner-robot for inspection of transmission lines[C]//IEEE International Conference of Robotics and Automation(ICRA 2008),M ay 19-23,2008,Tokyo,Japan.Piscataway:IEEE,2008:3978-3984.
[13]MOYO T,PLESSIS F D.The use of the traveling salesman problem to optimize power line inspections[C]//Proceedings 2013 6th Robotics and Mechatronics Conference,November 12-15,2013,Manila,Philippines.Piscataway:IEEE,2008:99-104.
[14]吴功平,曹珩,皮渊,等.高压多分裂输电线路自主巡检机器人及其应用[J].武汉大学学报(工学版),2012,45(1):96-102.WU Gongping,CAO Heng,PI Yuan,et al.An autonomous inspection robot for high voltage bundled transmission line and its application[J].Engineering Journal of Wuhan University,2012,45(1):96-102.
[15]吴功平,肖晓晖,肖华,等.架空高压输电线路巡线机器人样机研制[J].电力系统自动化,2006,7(13):90-94.WU Gongping,XIAO Xiaohui,XIAO Hua,et al.Development of a mobile inspection robot for high voltage power transmission line[J].Automation of Electric Power Systems,2006,7(13):90-94.
[16]郭伟斌,王洪光,姜勇,等.一种输电线路巡检机器人越障规划方法[J].机器人,2012,34(7):505-512.GUO Weibin,WANG Hongguang,JIANG Yong,et al.Obstacle navigation planning for a power transmission line inspection robot[J].Robot,2012,34(7):505-512.
[17]麦晓明,王柯,彭向阳,等.输电线路巡视机器人穿越式过塔技术研究[J].广东电力,2015,28(9):113-118.MAI Xiaoming,WANG Ke,PENG Xiangyang,et al.Research on pass-through-tower technology of power transmission line patrol robot[J].Guangdong Electric Power,2015,28(9):113-118.
[18]吴功平,杨智勇,王伟,等.巡检机器人自主充电对接控制方法[J].哈尔滨工业大学学报,2016,48(7):15-21.WU Gongping,YANG Zhiyong,WANG Wei,et al.An auto-docking charging control method for the inspection robot[J].Journal of Harbin Institute of Technology.2016,48(7):15-21.