超高压直流阀厅套管智能安装系统研究  

Research on intelligent installation system of EHV DC valve hall bushing installation

作　　者：张裕汉 万施霖 吕刚 王春 钟琳 Zhang Yuhan;Wan Shilin;Lv Gang;Wang Chun;Zhong Lin(Huanan Industrial Technology Research Institute of Zhejiang University,Gangdong Guangzhou 510000;CSG EHV Power Transmission Company Guiyang Bureau,Guizhou Guiyang 550000)

机构地区：[1]浙江大学华南工业技术研究院,广东广州510000 [2]中国南方电网有限责任公司超高压输电公司贵阳局,贵州贵阳550000

出　　处：《今日消防》2021年第11期20-24,共5页

摘　　要：超高压直流阀厅套管具有设备长度增长、重量增大、安装难度大、各项安装工艺控制以及试验要求细等特点。传统安装工艺需使用吊车,且经常凭借现场人员的经验与目测进行施工。文章提出了一种智能安装系统,该系统包括一个智能安装平台,以及对现场环境的感知与测量、机构的受力分析与设计、过程三维定位和移动机器人动态路径规划等四项技术的有机组合,能大幅度提高安装的程序化、规范化、精细化和智能化。The EHV DC valve hall bushing has the characteristics of growing equipment length, increasing weight, difficult installation, various installation process control, and fine test requirements. The traditional installation process requires the use of cranes and often relies on the experience and visual inspection of the site personnel. An intelligent installation system is proposed, which includes an intelligent installation platform and an organic combination of four technologies: perception and measurement of the site environment, force analysis and design of the mechanism, threedimensional positioning of the process and dynamic path planning, which can substantially improve the procedure, standardization, refinement, and intelligence of the installation.

关 键 词：超高压直流阀厅 套管安装 智能安装平台 三维定位 粒子群优化 动态路径规划 

分 类 号：TM723[电气工程—电力系统及自动化]