输配电线路走廊树木修枝机器人的研究现状及其发展趋势  

Research Status and Development Trend of Tree-pruning Robot in Transmission and Distribution Corridor

作　　者：郑孝干 陆林彤 杨毅豪 陈海旭 冯振波 ZHENG Xiaogan;LU Lintong;YANG Yihao;CHEN Haixu;FENG Zhenbo(Fuzhou Power Supply Company of State Grid Fujian Electric Power Co.,Ltd.,Fuzhou 350009,China;Laboratory of Live Working Technology for Power Transmission of State Grid Fujian Electric Power Co.,Ltd.,Fuzhou 350002,China;Fuzhou Yili Electric Power Engineering Co.,Ltd.,Fuzhou 350004,China)

机构地区：[1]国网福建省电力有限公司福州供电公司,福州350009 [2]国网福建省电力有限公司输电带电作业技术实验室,福州350002 [3]福州亿力电力工程有限公司,福州350004

出　　处：《电力学报》2024年第1期64-74,共11页Journal of Electric Power

摘　　要：我国高压输电线路总长超过100万km,线路密布且广泛分布,大部分10 kV及以上的输电线路穿越山区林地,线路与树木之间的安全距离不足等问题会导致电线短路和起火等安全隐患。目前,传统的人工修剪方式已经无法满足实际大面积的输配电线路走廊修枝需求。为解决这一“线树矛盾”,保证输配网电力线路安全运行,基于输配电线路走廊树木的修枝机器人不断发展。首先对修枝机器人关键部件进行了介绍;其次依据作业方式分别阐述了4类修枝机器人的特点,并介绍了修枝机器人使用的感知和控制技术,包括视觉感知、触觉感知、运动路径规划控制等,然后对比了现有修枝机器人的功能特点;最后,对修枝机器人的现存问题和发展趋势进行了展望,可为相关电力技术应用提供参考。In China,the total length of high-voltage transmission lines is more than 1 million kilometers,and the lines are dense and widely distributed.Most of the transmission lines of 10 kV and above pass through the for⁃ested areas in the mountains.At present,the traditional manual pruning method has been unable to meet the ac⁃tual large-scale transmission and distribution line corridor pruning needs.In order to solve this“line-tree contra⁃diction”and ensure the safe operation of power lines in transmission and distribution networks,pruning robots based on trees in transmission and distribution line corridors are constantly developed.Firstly,the key compo⁃nents of the pruning machine are introduced.Secondly the characteristics of four types of pruning robots are ex⁃pounded according to the operation mode.The perception and control technology used by the pruning robot are introduced,including visual perception,tactile perception,motion path planning control,etc.Then,the func⁃tional characteristics of the existing pruning robots are compared. Finally, the existing problems and develop⁃ ment trends of the pruning robots are prospected to provide reference for the application of related power technol⁃ ogies.

关 键 词：输配电线路 修枝机器人 研究现状 发展趋势 

分 类 号：TM752[电气工程—电力系统及自动化]