基于蛇形仿生技术的配网线路巡检机器人研究与应用  

Research and application of distribution network line inspection robot based on snake biomimetic technology

作　　者：王昆林 徐海春 尚娅慧 吴东阳 朱和平 WANG Kunlin;XU Haichun;SHANG Yahui;WU Dongyang;ZHU Heping(Yunnan Power Grid Kunming Power Supply Company,Kunming 650000,China;Nanjing Shuangjing Dianbo Special Ro bot Industry Research Institute Co.,Ltd.,Nanjing 210000,China)

机构地区：[1]云南电网昆明供电公司,云南昆明650000 [2]南京双京电博特种机器人产业研究院有限公司,江苏南京210000

出　　处：《中国高新科技》2023年第16期25-27,共3页

摘　　要：配网线路分布点多、面广、所处地形复杂、自然环境恶劣、线路及杆塔附件长期暴露在野外,因受到持续的机械张力、电气闪络、材料老化、环境等的影响而产生断股、磨损、腐蚀等损伤。文章通过仿生爬行机理,研制多节肢、小型化的机器人系统。蛇形爬线巡检机器人通过多频融合无线通信,将数据传输至后台监控中心。后台监控中心发出控制命令,驱动机器人沿输电线爬行;行走过程中,通过激光传感器对高压导线周边环境进行一定距离扫描测量。机器人自带在线取电模块,可长期在线运行。后台工作人员对线路情况进行巡检及故障缺陷判断,决定是否对线路实施维护。Distribution network lines have multiple distribution points,wide areas,complex terrain,harsh natural environment,and long-term exposure to the wild.Due to continuous mechanical tension,electrical flashover,material aging,environmental impact,etc.,damage such as strand breakage,wear,corrosion,etc.can occur.The article develops a multi jointed and miniaturized robot system through the biomimetic crawling mechanism.The snake shaped inspection robot transmits data to the backend monitoring center through multi frequency fusion wireless communication.The backend monitoring center sends control commands to drive the robot to crawl along the transmission line;During walking,a laser sensor is used to scan and measure the surrounding environment of high-voltage wires at a certain distance.The robot comes with an online power module that can operate online for a long time.Backstage staff conduct inspections and fault and defect judgments on the line,and decide whether to implement maintenance on the line.

关 键 词：蛇形巡检机器人 带电作业 弧垂测量 自动避障 远程操控 

分 类 号：TM755[电气工程—电力系统及自动化]