南方电网技术2017，Vol.11Issue(4)：14-22,9.DOI:10.13648/j.cnki.issn1674-0629.2017.04.003
架空输电线路智能机器人全自主巡检技术及应用
Full-Automatic Inspection Technology of Intelligent Robot for Overhead Transmission Lines and Its Application
摘要
Abstract
Aiming at the practice of intelligent robot inspection of transmission lines, four key control technologies of the robot`s automatic inspection operations are developed including automatically passing over obstacles, automatically positioning, automatic fault diagnosis and restoration, automatic inspection The principle and implementation method of the control technology are introduced in detail.Three typical failure modes of the robot, i.e., the self recovery fault, the replacement fault and the fault need to repair, and their diagnosis and repair strategies are established.The robot inspection test on real outdoor line is carried out.Robot inspection demonstration application of 500 kV live line in China Southern Power Grid is completed for the first time.The robot inspection control technology, fault diagnosis and repair strategy, as well as the independent inspection process are verifid and assessed.The robot has a single time inspection mileage of over 10 km, and the inspection application has achieved good results.关键词
架空输电线路/智能机器人/全自主巡检/自主越障/巡检试验/示范应用Key words
overhead transmission lines/intelligent robot/automatic inspection/automatically passing over obstacles/inspection test/demonstration application分类
信息技术与安全科学引用本文复制引用
彭向阳,吴功平,金亮,王柯,王锐,宋晖..架空输电线路智能机器人全自主巡检技术及应用[J].南方电网技术,2017,11(4):14-22,9.基金项目
国家高技术研究发展计划项目(863项目)(2006AA04Z202) （863项目）
南方电网公司重点科技项目 (K-GD2014-0621).Foundation item: Supported by the National High Technology Research and Development Program of China (863 Program) (2006AA04Z202) （K-GD2014-0621）
Key Science & Technology Projects of China Southern Power Grid (K-GD2014-0621). （K-GD2014-0621）
