Impacts of flexible obstructive working environment on dynamic performances of inspection robot for power transmission line

The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.

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.

Hand-eye-vision based control for an inspection robot's autonomous line grasping

In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.

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.

Prototype Monitoring System for Power Line Inspection by Means of a PandaBoard

The national energy supplier （Eskom in South Africa） supplies electricity through thousands-of-kilometers of overhead power lines. The current methods of inspection of these overhead power lines are infrequent and expensive. In this paper, the authors present the development of a prototype monitoring system for power line inspection in South Africa. The developed prototype monitoring system collects data （information） from the overhead power lines, is remotely accessible and fits into a power line robot. The prototype monitoring system makes use ofa PandaBoard （SBC） with GPS receiver and 5 MP camera to collect data. Hardware fatigue is the biggest problem faced on the overhead power lines and is captured by means of the 5 MP camera and is displayed on a website hosted by the PandaBoard via Wi-Fi. The monitoring system has low power consumption, is light weight, compact and easily collects data. The data obtained from the prototype monitoring system was satisfactory and provides an improved solution for monitoring power lines for Eskom in South Africa.

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.

高压输电线软体巡检机器人磁致动机制及PI滑模控制研究

为解决高压输电线刚性悬臂巡检机器人尺寸大、笨重、越障不灵活、效率低等问题,设计一种高压磁致动软体巡检机器人,利用载流线圈在高压直流环形磁场中受到的安培力驱动软体机器人以柔顺和蠕动方式高效灵活地跨越多种障碍物。对该机器人进行本体构型设计并分析其工作姿态,实现稳定巡检功能;对磁致动驱动器进行理论设计和分析,利用Comsol仿真软件对其所需驱动力进行仿真,验证理论的可实行性;通过拉格朗日法对高压磁致动软体巡检机器人进行动力学建模,构建系统动力学方程,获取机器人的关节角度、速度、加速度之间的关系;最后,通过MATLAB利用基于PI滑模控制法对简化后的高压磁致动软体巡检机器人动力学模型实行速度和角速度高精度追踪仿真。仿真结果表明:在滑模控制下,角度在1.5 s追踪上理想信号,角速度在0.3 s后追上理想信号,证明基于PI的滑模控制器能够实现对高压磁致动软体巡检机器人的有效控制。

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。

高压输电线路巡检机器人的设计与仿真研究

为解决传统高压输电线路巡检方法出现的问题,聚焦于高压输电线路巡检机器人的设计与仿真。该机器人采用双臂对称结构,通过夹紧机构和俯仰模块提高越障能力。行走模块则采用开合式轮毂滚动机构,有效提升了机器人沿线行走的效率。结果显示,在越障过程中,该机器人表现出良好的稳定性和合理的驱动力矩波动。

基于高光谱遥感图像识别的输电线路巡检机器人路径自动化控制系统

输电线路巡检机器人路径自动控制的合理性,是保障巡检机器人能够自主完成巡检任务,提高巡检效率的关键。该文设计基于高光谱遥感图像识别的输电线路巡检机器人路径自动化控制系统。聚类输电线路高光谱遥感图像的像元,识别高光谱遥感图像中的输电线路。依据输电线路识别结果,利用双蚁群算法确定最佳巡检路径。通过模糊PID控制器控制巡检机器人的伺服电机,沿着最优巡检路径移动,实现巡检机器人的路径自动化控制。系统测试结果表明,所设计系统能够依据高光谱遥感图像的输电线路识别结果,规划巡检机器人的巡检路径,巡检路径拐点较少。

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。

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。

输电线路巡检中的智能机器人应用

阐述物联网中的高效远程控制特点,它具有任务模块灵活多变、智慧电源系统和智能自学习系统的功能。探讨输电线路巡检中的智能机器人应用,包括自主越障、自动定位、自主故障诊断与复位。

基于YOLOv5的图像检测技术在线路巡检中的应用

小型化巡检机器人的应用可降低人工线路巡检的劳动强度并提高检测效率,同时改善人工巡检盲区等问题。介绍了小型化巡检机器人系统,同时基于YOLOv5及其改进算法,根据巡检机器人拍摄的图像制作数据集,并进行目标图像检测试验验证,表明改进后的算法具备更加精准的识别能力,有效保障了输电线路中设备的安全稳定运行。

高压输电线路的智能巡检技术分析

阐述智能巡检技术的特点,分析传统高压输电线路巡检技术中的问题及原因,探讨高压输电线路智能巡检技术的运用,包括无人机智能巡检技术、机器人智能巡检技术,从而提升线路运维效益。

智能机器人巡检系统在输变电工程中的应用

阐述智能机器人巡检系统在输变电工程中的应用特点,介绍其在提高工作效率、降低工作风险和改善巡检质量中的应用,并探讨智能机器人巡检系统在输变电工程中的挑战和发展趋势。

高压输电线路巡检机器人速度控制研究

为确保高压输电线路巡检机器人在无电下坡时的安全运行,并延长其充电后的续航时间,文章提出模糊PID控制的巡检机器人行走轮电机下坡节能调速方法,结合架空导线的参数方程和架空输电线路的结构特点,分析巡检机器人车轮的驱动力矩与沿输电地线下降前后的水平位移之间的关系,从而实现对检测机器人后行走轮的节能速度控制。仿真结果表明,模糊PID控制能更好地调节机器人在不同坡度条件下的速度,且在能量回收效率方面效果较好。