变胞式输电线路树障清除机器人智能遥控关键技术研究  

Research on the Key Technology of Intelligent Remote Control for Varicellular Transmission Line Tree Obstacle Removal Robot

作　　者：夏立伟 周春晓 李明 尹洪 张楚谦 尹玟璇 Xia Liwei;Zhou Chunxiao;Li Ming;Yin Hong;Zhang Chuqian;Yin Wenxuan(State Grid Hubei Electric Power Co.,Ltd.,UHV Company,Wuhan Hubei 430064,China)

机构地区：[1]国网湖北省电力有限公司超高压公司,湖北武汉430064

出　　处：《现代工业经济和信息化》2024年第3期231-233,共3页Modern Industrial Economy and Informationization

摘　　要：探索变胞式输电线路树障清除机器人智能遥控关键技术,重点研究自适应轮毂机架技术,包括设计原理与结构优化、气动式实现方案和夹紧机构的设计与优化方法,探讨转向控制算法及树枝修剪技术,包括转向控制算法的设计与优化、基于视觉感知的树枝识别和修剪技术以及快拆式安装架的设计与优化,最后研究导线与修剪树干距离测量及避障技术,包括基于RTK定位的测量原理与算法、电场感应和激光雷达在避障中的应用,以及实时显示与监控系统的设计与开发.通过研究,提出了一套智能遥控变胞式输电线路树障清除机器人的关键技术实现方案.The aim of this study is to explore the key technology of intelligent remote control of tree obstacle removal robot for variable-cell transmission lines.It focuses on the adaptive hub frame technology,including the design principle and structure optimisation,the pneumatic implementation scheme and the design and optimisation method of the clamping mechanism.Secondly,the steering control algorithm and tree trimming technology are explored,including the design and optimisation of the steering control algorithm,the branch identification and trimming technology based on visual perception,and the design and optimisation of the quick-release mounting frame.Finally,the study of wire and pruning trunk distance measurement and obstacle avoidance technology,including the measurement principle and algorithm based on RTK positioning,the application of electric field sensing and LiDAR in obstacle avoidance,as well as the design and development of real-time display and monitoring system.Through the research,a set of key technology implementation scheme of intelligent remote-controlled variable cell type transmission line tree obstacle removal robot is proposed.

关 键 词：变胞式机器人 输电线路 树障清除 智能遥控 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]