绝缘子串激光除冰机器人人机交互控制系统设计  

Design of Human Computer Interaction Control System for Insulator String Laser Deicing Robot

作　　者：牛捷 邹德华[1,2] 邝江华 刘兰兰[1,2] 江维 NIU Jie;ZOU De-hua;KUANG Jiang-hua;LIU Lan-lan;JIANG Wei(Intelligent Live Operation Technology and Equipment(Robot)Hunan Provincial Key Laboratory(State Grid Hunan Transmission Maintenance Company),Hengyang Hunan 420100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Transmission Maintenance Company),Hengyang Hunan 420100,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan Hubei 430200,China)

机构地区：[1]智能带电作业技术及装备(机器人)湖南省重点实验室(国网湖南省电力有限公司输电检修分公司),湖南衡阳420100 [2]带电巡检与智能作业技术国家电网公司实验室(国网湖南省电力有限公司输电检修分公司),湖南衡阳420100 [3]武汉纺织大学机械工程与自动化学院,湖北武汉430200

出　　处：《武汉纺织大学学报》2021年第4期33-37,共5页Journal of Wuhan Textile University

基　　金：国网湖南省电力有限公司科技项目(5216AJ20000T).

摘　　要：冬季严寒气候输电线路绝缘子串覆冰严重影响绝缘子的绝缘性能,特别是绝缘子间形成的冰凌更是会造成绝缘子片间短路事故的发生,利用激光进行绝缘子除冰作业是电力运维管理新思路和新方法的有益探索,其具有除冰效果好、对线路无损伤、能源利用清洁高效等显著优点。除冰机器人控制系统是完成除冰作业的关键,传统的激光除冰机器人,激光器和搭载装备相互独立,控制分散,难以做到二者协同控制。基于此,本文充分分析搭载装备和激光器在绝缘子除冰作业中各自的功能,针对完整的激光除冰作业任务提出了无人机-激光器的复合式和集成式控制系统解决方案,并设计了操控简单、界面友好的人机交互协同控制界面,实现了同一控制平台上对搭载装备无人机和激光器的双重控制功能,从而有利于提升除冰作业效率和作业可靠性,同时该集成式控制方法具有较强的推广性,其对于多系统分散控制的集成化具有重要的参考价值。In severe cold weather in winter,the icing of the transmission line insulator string seriously affects the insulation performance of the insulator,especially the ice formed between the insulators which would cause the occurrence of short-circuit accidents between the insulators.The use of lasers to deice the insulators is a new way of power operation and maintenance management.The beneficial exploration of the new method has significant advantages such as sound deicing effect,no damage to the line,clean and efficient energy utilization.The control system of the deicing robot is the key to complete the deicing operation.In the traditional laser deicing robot,the laser and the carrying equipment are independent of each other and the control is dispersed.It is difficult to achieve the coordinated control of the two.Based on this,this article fully analyzes the respective functions of the insulator deicing operation,the UAV-laser compound and integrated control system solution is proposed for the complete laser deicing task,the man-machine interactive collaborative control interface with simple operation and friendly interface is designed,and realizes the dual control function of the equipped drone and laser on the same control platform,which is beneficial to improve the efficiency and reliability of the deicing.At the same time,the integrated control method has strong popularization,and it is suitable for multiple systems.The integration of decentralized control has important reference value.

关 键 词：激光除冰 机器人 搭载装备 集成化控制 人机交互 

分 类 号：TM932[电气工程—电力电子与电力传动]