基于小型移动机器人的高压架空输电线路融冰技术  

Melting technology for high-voltage overhead transmission lines based on small mobile robot

作　　者：姚磊[1] 迟兴江[1] 张雷 施翔[1] 孙闻浩 YAO Lei;CHI Xingjiang;ZHANG Lei;SHI Xiang;SUN Wenhao(State Grid Beijing Electric Power Co.,Ltd.,Beijing 100069,China)

机构地区：[1]国网北京市电力公司,北京100069

出　　处：《电测与仪表》2024年第12期34-41,共8页Electrical Measurement & Instrumentation

基　　金：国家电网有限公司科技项目(2023BJDL17334270)。

摘　　要：高压架空输电线路在冬季会受到大量冰雪的覆盖,天气条件的多变会改变冰雪的形态和质地,导致以回波信号为基础的自动融冰方式,在存储回波干扰下,存在明显弊端。为此,研究基于小型移动机器人的高压架空输电线路融冰技术。采用搭载双目视觉传感器的小型机器人,实时捕捉线路的视频图像,提取视频图像中线路外观纹理特征,输入到神经网络当中,识别覆冰状态。利用相似三角形原理推导覆冰线路的三维空间坐标。利用比例积分微分控制(proportional-integral-derivative,PID),实现机器人机械臂越过障碍物后,利用携带的融冰装置铲除覆盖在电力线路上的冰层,完成融冰作业。结果表明:在融冰前输电线路的外观呈现模糊和不规则状态,融冰后输电线路区域变得清晰可见,露出了线路本身的颜色和纹理,表明融冰作业取得了显著的效果,证明了技术的有效性。High voltage overhead transmission lines will be covered with a large amount of ice and snow in winter,and the changing weather conditions will change the shape and texture of the ice and snow,which in turn leads to notable disadvantages in automatic de-icing methods that rely on echo signals.Under the interference of stored echoes,there are obvious drawbacks.To this end,research is being conducted on the uninterrupted deicing technology of high-voltage overhead transmission lines based on small mobile robots.Employing a small robot equipped with binocular vision sensors,the system captures real-time video images of the transmission lines.It then extracts the texture features of appearance of the line from the video images and inputs these features into a neural network for the identification of ice accumulation conditions.Utilizing the principle of similar triangles,the three-dimensional spatial coordinates of the iced transmission line are derived.By using proportional-integral-derivativ control,the robot robotic arm can overcome obstacles and use a portable ice melting device to remove the ice layer covering the power line,completing uninterrupted ice melting operations.The results show that the appearance of the transmission line is fuzzy and irregular before ice melting,and after ice melting,the area of the transmission line became clear and visible,revealing the color and texture of the line itself.This indicates that the ice melting operation has achieved significant results and proves the effectiveness of the technology.

关 键 词：小型移动机器人 高压架空输电线路 覆冰识别 覆冰定位 融冰技术 

分 类 号：TM75[电气工程—电力系统及自动化]