可越障高压线路巡线机器人设计  

Design of High Voltage Line Inspection Robot with Obstacle Surmounting Ability

作　　者：周自更 黄修乾 胡昌斌 黄双得 许保瑜 曹家军 ZHOU Zigeng;HUANG Xiuqian;HU Changbin;HUANG Shuangde;XU Baoyu;CAO Jiajun(Kunming Power Supply Bureau of Yunnan Power Grid Co.,Ltd.,Kunming 650000,China;Yunnan Power Grid Co.,Ltd.,Kunming 650011,China)

机构地区：[1]云南电网有限责任公司昆明供电局,昆明650000 [2]云南电网有限责任公司,昆明650011

出　　处：《电子器件》2020年第5期1071-1077,共7页Chinese Journal of Electron Devices

基　　金：云南电网有限责任公司科技项目(YNKJXM20170213)。

摘　　要：电力系统架空输电线路的检测是一个难题,现场输电线路检测是一项昂贵而危险的工作。巡逻直升机检测方法成本太高,工人手动检测方法需要停电,目前没有行之有效的检测方法。本文提出了一种新的输电线路检查方法,利用巡线机器人检测输电线路,即在带电线路上移动,越过障碍物,对导线进行详细检查,降低了操作人员的风险,不需要中断输电。本文详细介绍了这一方法及其实现和操作程序,可实现利用巡线机器人对跨越山区、沙漠和森林等地区的输电线路进行检测,克服机器人前进的障碍。与人工巡线相比,机器人巡线使得检测工作变得简单、快速、安全,不会对人造成影响,是一种降低人工成本、提高巡线精度的新方法。The detection of overhead transmission lines in power system is a difficult problem,and the detection of on-site transmission lines is an expensive and dangerous work.The cost of inspection helicopter detection method is too high,while the manual detection method of workers needs power failure.Up to now,there is still no effective detection method.In this paper,a new method of using line inspection robot to detect the transmission line is proposed,that is,using robot to move on the electrified line,cross over the obstacles,and carry out a detailed inspection of the conductor.This method not only reduces the risk of operators,but also does not need to break off the transmission.This paper introduces this method and its implementation and operation procedure in detail.It can be used to detect the transmission lines across mountainous areas,deserts and forests,and overcome the obstacles for the robot to move forward.Compared with the manual line inspection,robot line inspection makes the detection work simple,fast and safe,and will not affect the human.It is a new method to reduce the labor cost and improve the line inspection accuracy.

关 键 词：高压输电线路 巡线机器人 越障 检测 设计 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TM247[自动化与计算机技术—控制科学与工程]