配网线路智能巡检机器人在线取电设计方法

Design method for online power acquisition of intelligent inspection robots for distribution network lines

配网线路长期暴露在野外,因受到机械张力、微风振动、电气闪络、材料老化易出现断股、磨损、腐蚀等损伤,必须对输电线路进行定期巡视检查。巡检工作量巨大,特别是云南电网区域输电线路的巡检,存在很大困难,有一些特殊线路段不具备人工巡检条件。无人机巡线也存在突出的缺点,主要表现在稳定性差、可靠性差、操控难度大。需研究智能爬线巡检机器人,巡检机器人不断检测导线本体及周边情况,采集数据可存储在前端或后台监控中心;机器人自带在线取电模块,可7×24h在线运行,可跨越线夹、间隔棒、防振锤及耐张段。为了确保机器人供电连续性,系统采用双电源供电系统,当设备出现异常工作状态时,可通过主控系统进行机器人电源的自动切换。满足运行过程中主控单元与通信单元不间断供电,保障正常巡检及回收。

The distribution network lines are exposed to the wild for a long time,and are prone to damage such as strand breakage,wear,corrosion,etc.due to mechanical tension,gentle wind vibration,electrical flashover,and material aging.Regular inspections and inspections of the transmission lines are necessary.The inspection workload is enormous,especially for the transmission lines in the Yunnan power grid area,which poses great difficulties.Some special line sections do not have the conditions for manual inspection.Unmanned aerial vehicles also have prominent shortcomings in line patrol,mainly manifested in poor stability,reliability,and difficulty in handling.We need to research intelligent wire climbing and inspection robots,which continuously detect the wire body and surrounding conditions,and collect data that can be stored in the front-end or back-end monitoring center;The robot comes with an online power module that can run online for 7×24h,and can span wire clamps,spacers,shock hammers,and tension sections.In order to ensure the continuity of power supply for the robot,the system adopts a dual power supply system.When the equipment encounters abnormal working conditions,the main control system automatically switches the power supply.Ensure uninterrupted power supply between the main control unit and communication unit during operation,ensuring normal inspection and recycling.