输电线路除冰机器人关键技术综述  

Review on Key Technology of De-icing Robot Running on Overhead Transmission Line

作　　者：王耀南[1] 魏书宁[1] 印峰[1] 杨易旻[1] 谭磊[1] 曹文明[1] 

机构地区：[1]湖南大学电气与信息工程学院,长沙410082

出　　处：《机械工程学报》2011年第23期30-38,共9页Journal of Mechanical Engineering

基　　金：国家'十一五'科技支撑计划资助项目(2008BAF36B01)

摘　　要：输电线路覆冰严重危害到电网的安全稳定运行,与传统除冰方法相比,采用机器人除冰在能耗、成本及安全性等方面具有优势。作为一个新兴的研究领域,国内外对除冰机器人的研究尚处在起步阶段,并没有成熟的技术可借鉴,因此有必要对现有研究成果进行系统分析和深入总结。回顾国内外高压输电线路除冰机器人的研究和应用现状,详细探讨了除冰机器人复杂柔性结构输电线缆上的高可靠性运动机构设计;复杂非结构化环境下的机器人自主行为控制与导航;无损伤高效除冰机构;野外大范围长时间工作的持续动力供给;远距离强电磁干扰条件下的机器人远程通信、监测和遥操作;恶劣工作环境中的本体特殊保护机制等关键技术问题。给出除冰机器人下一阶段研究方向的建议。Ice-coated transmission lines seriously harm the safety and stability of the power grid.Compared with the traditional methods of de-icing,de-icing robots have advantages in terms of energy consumption,cost and safety,et al.As an emerging research area,international research on the de-icing robot is still in its infancy,and no mature technology can be used for reference.Thus it is necessary to review current achievements systematically and intensively.State-of-the-art in research and application of de-icing robot running on overhead transmission line are surveyed.Key technologies of de-icing robot are discussed in detail,including high reliability of motion mechanism design on complex flexible structure of transmission lines;autonomous behavior control and navigation in complex unstructured environment;efficient de-icing mechanism without damage;long-continuous power supply in a wide range of field work;remote communication,monitoring,teleoperation under the conditions of long distance and strong electromagnetic interference;special protection mechanisms under poor working conditions.Development trend and research direction for deicing robot are suggested in the end.

关 键 词：巡线机器人 除冰机器人 除冰机构 输电线路 越障 

分 类 号：TM932[电气工程—电力电子与电力传动]