High Precision Ultrasonic Guided Wave Technique for Inspection of Power Transmission Line

Due to the merits of high inspection speed and long detecting distance, Ultrasonic Guided Wave（UGW） method has been commonly applied to the on-line maintenance of power transmission line. However, the guided wave propagation in this structure is very complicated, leading to the unfavorable defect localization accuracy. Aiming at this situation, a high precision UGW technique for inspection of local surface defect in power transmission line is proposed. The technique is realized by adopting a novel segmental piezoelectric ring transducer and transducer mounting scheme, combining with the comprehensive characterization of wave propagation and circumferential defect positioning with multiple piezoelectric elements. Firstly, the propagation path of guided waves in the multi-wires of transmission line under the proposed technique condition is investigated experimentally. Next, the wave velocities are calculated by dispersion curves and experiment test respectively, and from comparing of the two results, the guided wave mode propagated in transmission line is confirmed to be F（1,1） mode. Finally, the axial and circumferential positioning of local defective wires in transmission line are both achieved, by using multiple piezoelectric elements to surround the stands and send elastic waves into every single wire. The proposed research can play a role of guiding the development of highly effective UGW method and detecting system for multi-wire transmission line.

Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.

Prototype Line Crawler for Power Line Inspection

In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler （inspection robot） for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.

Inspection and Monitoring Techniques for Power Lines

Structural assessment is prerequisite for proper maintenance of civil infrastructure.In the begining of this paper,modern inspection and monitoring methods are briefly reviewed.Experiences in applying image-based methods for highway bridge inspection are described shortly afterward.Studies are then extended to explore technologies for power delivery infrastructure evaluation.Typical power line components are first introduced. Structural analyses show complicated coupling phenomena in the power line system;and its vulnerability is intensified by extreme environment or human induced events.As a main interest,the state-of-art of power line inspection is summarized.Both visual observations and inspections assisted with novel techniques are presented.Real time monitoring of the power line is also investigated in this paper.Technologies that have potentials for monitoring power cables,insulators,and support structures are identified.A conceptual integrated design is proposed by the authors through combining innovative inspection with promising monitoring methods to ensure a sustainable,smart power line.

Long Range Unmanned Aircraft System for Power Line nspection of Brazilian Electrical System

Power line inspection is an essential procedure in the power lines maintenance area, especially thinking about service availability and energy efficiency. Aerial inspection of electric power transmission lines is typically performed using human-piloted helicopters, which is a procedure that is both expensive and prone to accidents taking risks to human beings＇ lives. The work presents a solution based on UAS （unmanned aircraft system） for inspecting power lines. In this context a R ＆ D project of an unmanned aircraft system to be used for performing complete aerial inspection of overhead power lines is being executed by ITA （Instituto Tecnol6gico de Aeron^utica） （Technological Institute of Aeronautics） in Brazil. Special attention is dedicated to the communication system conception in order to comply with Remotely Piloted Aircraft System definition in the context of long endurance operations of the system. It presents a solution based on LTA （lighter than air） platform in order to extend the communication range beyond line of sight.

Variable universe fuzzy control of walking stability for flying‐walking power line inspection robot based on multi‐work conditions

To address complex work conditions incredibly challenging to the stability of power line inspection robots,we design a walking mechanism and propose a variable universe fuzzy control(VUFC)method based on multi‐work conditions for flying‐walking power line inspection robots(FPLIRs).The contributions of this paper are as follows:(1)A flexible pressing component is designed to improve the adaptability of the FPLIR to the ground line slope.(2)The influence of multi‐work conditions on the FPLIR's walking stability is quantified using three condition parameters(i.e.,slope,slipping degree and swing angle),and their measurement methods are proposed.(3)The VUFC method based on the condition parameters is proposed to improve the walking stability of the FPLIR.Finally,the effect of the VUFC method on walking stability of the FPLIR is teste.The experimental results show that the maximum climbing angle of the FPLIR reaches 29.1°.Compared with the constant pressing force of 30 N,the average value of slipping degree is 0.93°,increasing by 35%.The maximum and average values of robot's swing angle are reduced by 46%and 54%,respectively.By comparing with fuzzy control,the VUFC can provide a more reasonable pressing force while maintaining the walking stability of the FPLIR.The proposed walking mechanism and the VUFC method significantly improve the stability of the FPLIR,providing a reference for structural designs and stability controls of inspection robots.

EDLine与改进光流法线路异物智能检测

为提高无人机电力故障巡检效率,提出一种结合边缘绘制线(edge drawing line,EDLine)特征提取算法与改进光流法的输电线路异物智能检测方法。鉴于背景纹理对航拍图像的影响,研究一种基于矩阵的线段融合算法以解决EDLine线段检测的断续问题,根据多特征约束提取输电线路区域。为有效识别异物,利用动量因子改进光流算法迭代收敛速度,根据光流信息检测异物故障。对无人机巡检图像的测试结果表明,该方法在复杂背景或异物不明显时均可有效检测出异物。提出检测算法准确度高、鲁棒性强,保证巡检的时效性。

Multi-Equipment Detection Method for Distribution Lines Based on Improved YOLOx-s

The YOLOx-s network does not sufficiently meet the accuracy demand of equipment detection in the autonomous inspection of distribution lines by Unmanned Aerial Vehicle(UAV)due to the complex background of distribution lines,variable morphology of equipment,and large differences in equipment sizes.Therefore,aiming at the difficult detection of power equipment in UAV inspection images,we propose a multi-equipment detection method for inspection of distribution lines based on the YOLOx-s.Based on the YOLOx-s network,we make the following improvements:1)The Receptive Field Block(RFB)module is added after the shallow feature layer of the backbone network to expand the receptive field of the network.2)The Coordinate Attention(CA)module is added to obtain the spatial direction information of the targets and improve the accuracy of target localization.3)After the first fusion of features in the Path Aggregation Network(PANet),the Adaptively Spatial Feature Fusion(ASFF)module is added to achieve efficient re-fusion of multi-scale deep and shallow feature maps by assigning adaptive weight parameters to features at different scales.4)The loss function Binary Cross Entropy(BCE)Loss in YOLOx-s is replaced by Focal Loss to alleviate the difficulty of network convergence caused by the imbalance between positive and negative samples of small-sized targets.The experiments take a private dataset consisting of four types of power equipment:Transformers,Isolators,Drop Fuses,and Lightning Arrestors.On average,the mean Average Precision(mAP)of the proposed method can reach 93.64%,an increase of 3.27%.The experimental results show that the proposed method can better identify multiple types of power equipment of different scales at the same time,which helps to improve the intelligence of UAV autonomous inspection in distribution lines.

激光雷达探测输电走廊安全风险研究现状

输电走廊环境监测和风险预警是电网防灾抗灾的重要研究内容。在激光雷达、物联网、无人机及计算机技术的发展与推动下,利用各种新型遥感监测与巡检手段进行输电走廊大范围、智能化巡检成为重要发展趋势。综合多种监测数据的线路安全风险评估与灾害预警,成为智能电网建设工作的研究热点之一。本文系统论述了应用激光雷达技术进行输电走廊安全风险探测的研究现状与发展趋势,分析了激光雷达在输电线路安全风险探测中的优缺点,讨论了激光雷达输电线路巡检和监测数据在输电线路安全风险评估预警中所面对的问题与挑战。

可变重心线路巡检机器人摆振分析及抑制

针对野外输电线巡检机器人(power transmission line inspection robot,PTLIR)受自然风影响出现的机身摆动问题,提出一种在机器人的可变重心箱体中加装摆式动力吸振器(dynamic vibration absorber,DVA)的摆振抑制策略。描述了输电线系统与巡检机器人加装摆式动力吸振器的结构特点。基于Davenport风速谱与输电线系统的特点建立了风扰动模型。分析了机器人行走对输电线的影响,建立了简化后风扰动影响下机器人摆动的动力学模型,仿真了抑振前机器人在风扰动影响下的风振响应;基于拉格朗日方程建立了加装动力吸振器优化后的巡检机器人动力学模型,并完成了吸振器的参数设计。通过仿真不同风速下机器人的风振响应,验证所提出的振动抑制策略的有效性。基于改进结构下的巡检机器人样机,开展了室内风扰动试验。结果表明,所提出的吸振器抑振策略可在一定程度上抑制机器人的机身摆动,提高工作稳定性。该研究过程对其他摆式结构设备的振动抑制具有一定的参考价值。

220 kV输变电工程线路施工技术分析

电力工程和建设项目有着很大的区别,为了保证输电线路的正常运转,必须对输变电工程线路施工技术进行讨论和研究,并对技术的保障措施进行归纳,保证建设的高效进行。与此同时,在企业的经营方式上,建立健全管理机制、检查制度,加大技术研发的投入,以此来提高企业的日常运营和维修工作的效率和技术水平。因此,该文着重对220 kV输电线路的建设中应注意的问题进行探讨。

基于轮廓线与特征融合的电网变电设备三维自动化运检方法

因工作环境的复杂性,变电设备成为智能电网中故障频率最高的装置之一,易发生设备接地故障、保险熔断故障、绝缘材料老化等问题,为提高电网变电设备三维自动化运检精度,提出基于轮廓线与特征融合的电网变电设备三维自动化运检方法研究。采集电网变电设备三维图像,获取电网变电设备三维图像初始轮廓点,筛选变电设备轮廓点,依照顺序连接提取出的关键轮廓点,得到变电设备三维图像轮廓线,结合形态学滤波算法,对图像进行开、闭运算,依据轮廓线的闭合情况,分割出目标图像与背景图像,提取包括HOG特征与LBP特征的变电设备目标图像特征,经过特征融合后,构造最优分类超平面,制定电网变电设备三维自动化运检规则,判定变电设备运维情况,最终实现变电设备的三维自动化运检。实验数据显示:该方法识别出变电设备的正常与异常状态,在不同实验工况背景下,应用提出方法获得的变电设备运检精度达到了96%。提高了变电设备的自动化运检的识别及运检精度,满足现今变电设备的运检需求。

无人机在电力线路巡检中的应用

文章就电力线路巡检中无人机应用现状进行简要分析,介绍了无人机在电力线路巡检中的工作优势,并对无人机在电力线路巡检中的常规应用、故障应用、特殊应用进行了简要分析,通过分析得出无人机在电力线路巡检中应用前景良好价值极高的结论。并针对如何提升无人机应用质量,提出了合理选择巡检平台、优化飞行航线、强化过程控制等建议。

从城市道路点云数据中快速提取架空线路及其参数

城市架空输电线路在城市供电网络中起到重要的基础作用,需要及时负责地对线路进行检测。使用三维激光扫描技术在短时间内获取大量高精度、高密度点云,滤波后使用主成分分析获取主方向,基于投影的连通性进行单根电线的分割与参数提取。实验结果表明,本文算法能有效提取城市点云中的架空输电线路,对于城市场景的2174万点云处理时间为27.69 s,单根输电线参数提取结果与手工计算值的平均误差为0.022m,满足城市架空输电线路态势感知的效率与精度需求。

台区线损技术在用电检查中的应用

对于电力企业的供电系统运营管理来说,台区线损率是考核其管理水平的关键经济指标之一。线损的高低能够反映出电网稳定程度,也关系到电力企业的经济效益。在当前配网自动化程度提高的背景下,台区线损计算与线损控制也更为方便,能够准确通过分析查找到线损原因再进行降损处理,这个过程中用电检查工作必不可少,其对于控制台区线损有着重要作用,也能为线损管理改进指明正确方向,为提高实际供电质量作出贡献。因此,文章通过分析台区线损的主要原因和异常表现,进一步分析了用电检查中台区线损控制措施的有效应用。

基于光纤通信技术的输电线路故障实时巡检系统设计

文章旨在设计一套基于光纤通信技术的输电线路故障实时巡检系统。该系统采用分布式光纤传感器对输电线路温度和应变进行监测,利用布里渊光时域反射(Brillouin Optical Time-Domain Reflectometry,BOTDR)技术精确定位故障。系统分为感知层、网络层和应用层共3个层次,分别负责数据采集、融合传输和智能分析。实证研究表明,该系统故障定位精度达±3.2 m,平均响应时间为0.87 s,30 d连续运行可靠性为99.98%,满足了输电线路实时监测的需求。

输电线路机器人检修技术及其在电力行业中的应用

随着电力需求的不断增长和输电线路网络的日益复杂,传统的输电线路人工检修方法面临着安全性、效率和成本等多方面的挑战。机器人检修技术作为一种创新的解决方案,逐渐在输电线路维护中得到了广泛应用。文章简要概述传统输电线路检修方法,从机器人类型、关键技术、特点等方面综述输电线路机器人检修技术,并分析了其在电力行业中的具体应用,同时展望输电线路机器人检修技术未来的发展趋势和研究方向。机器人检修技术的应用,将为输电线路维护带来革命性的改变,推动电力行业向智能化和自动化方向发展。

智能供配电系统在选煤厂的应用

本文探讨了智能化供配电系统在选煤厂中的应用,引入巡检自动追踪系统、设备远程控制系统、停送电在线审批系统等技术,详细介绍了各个系统的组成、功能和工作原理。该系统显著提升了选煤厂的能源利用效率和管理智能化水平,减少了传统供配电方式下的时间浪费与操作复杂性,强化了供配电操作的安全性和可靠性,有助于减少能源消耗与生产排放,推动选煤厂向节能环保、绿色发展的方向转型。通过三层闭锁保护机制实现了供配电系统的可靠性,并在全业务流程中实现了无纸化与在线移动操作,极大地提升了工作效率和生产安全性。

基于四旋翼无人机的输电线路巡检系统研究

针对输电线路短途巡检的应用需求,解决常规巡检手段低效、安全、技术门槛等问题,以四旋翼无人机为载体,搭载影像采集设备进行航拍巡视,搜索、定位、采集线路缺陷和隐患的影像数据。根据线路杆塔坐标信息,预设航迹点实现自主飞行巡检;以设备回传的杆塔实时影像为操作指导,利用手动飞行模式实现线路关键部件的影像采集。该系统提升了线路状态管理、应急指挥的便利性,为输电线路的安全评估、灾前排查、事故预警、灾后抢修,乃至状态检修和全寿命周期管理提供全方位的信息支持。

高压架空输电线路自动巡线机器人的研制

介绍了自行研制的110 kV高压架空输电线路巡线机器人。该机器人机械结构设计合理、巧妙;控制系统采用两级分布式计算机控制结构,规划级用于机器人管理和路径规划,直接控制级用于机器人的姿态和运动控制。实验线路上的运行表明,较好地解决了自主越障问题,可以完成规定的巡检任务,具有非常广泛的应用前景。