电力输电线路绝缘子裂缝智能识别机器人设计

Design of intelligent identification robot for insulator crack of power transmission line

传统电力输电线路的绝缘子裂缝识别是采用火花叉法,这种方法容易产生较大的操作误差,致使绝缘子裂缝识别效果较差,因此,为了补偿传统绝缘子裂缝识别方法的缺陷,设计绝缘子裂缝智能识别机器人,利用机器人实现绝缘子裂缝的智能识别。其中,硬件单元为机器人控制单元、绝缘子信息采集单元、机器人通信单元与机器人报警单元;软件模块为机器人运动控制模块、机器人通信模块与绝缘子裂缝识别模块。将硬件单元与软件模块相结合,以实现电力输电线路绝缘子裂缝智能识别机器人的顺利运行。实验结果显示:随着机器人电机转速提升,机器人特定任务爬行时间逐渐延长,相应的绝缘子裂缝识别误差也随之增大。机器人丝杆1与丝杆2平均绝缘子裂缝识别误差分别为2.87与1.93,可以满足现今输电线路稳定性需求,充分证实所设计机器人具备可行性与有效性。

Insulator crack identification of traditional power transmission lines uses spark fork method.This method is prone to large operating errors, resulting in poor identification of insulator cracks.Therefore, in order to compensate for the defects of traditional insulator crack identification methods, intelligent insulator crack identification is designed Robots, using robots to realize intelligent identification of insulator cracks.Among them, the hardware units are the robot control unit, the insulator information collection unit, the robot communication unit and the robot alarm unit;the software modules are the robot motion control module, the robot communication module and the insulator crack identification module.The hardware unit and the software module are combined to realize the smooth operation of the intelligent recognition robot for cracks in the insulators of power transmission lines.The experimental results show that as the speed of the robot motor increases, the crawling time of the robot’s specific tasks is gradually extended, and the corresponding insulator crack identification error also increases.The average insulator crack identification errors of the robot screw 1 and screw 2 are 2.87 and 1.93,respectively, which can meet the current transmission line stability requirements and fully prove the feasibility and effectiveness of the designed robot.