高电压技术2017，Vol.43Issue(8)：2582-2591,10.DOI:10.13336/j.1003-6520.hve.20170731019
架空输电线路机器人全自主巡检系统及示范应用
Full Automatic Inspection System and Its Demonstration Application Based on Robot for Overhead Transmission Lines
摘要
Abstract
Robot inspecting is the main development direction of the electric inspection,but compared with helicopters,UAVs,and substation inspection robot,inspection robot for transmission lines in China has not yet reached a practical level.We studied the key technology of robot practical inspection for transmission line,and put forward several typical operation modes of robot inspecting.Moreover,we developed two kinds of inspection robot of robot to pass obstacles and robot to cross obstacles,and proposed a transformation method of robot walking path.For the first time,we designed the device of robot autonomous on-line and off-line,and implemented the development of independent inspection system of robot.The robot has got through a variety of complex nature,electromagnetic environment condition test and outdoor function test based on really line section,and has carried out the demonstrational application on 500 kV live operation line.The robot can carry out simultaneously visible light and infrared detection.In the inspection,the problems of inspection system are exposed and solved,the emergency rescue measures under the abnormal situation of the robot are put forward and carried out successfully.The robot has a single time inspection mileage of 10 km or more,and the inspection application has achieved good results,the robot inspection system has reached a certain practical level.关键词
架空输电线路/机器人/巡检系统/全自主巡检/机器人自主上下线/应急救援/示范应用Key words
overhead transmission lines/robot/inspection system/full automatic inspection/robot autonomous on-line and off-line/emergency rescue/demonstration application引用本文复制引用
彭向阳,钱金菊,吴功平,麦晓明,魏莱,饶章权..架空输电线路机器人全自主巡检系统及示范应用[J].高电压技术,2017,43(8):2582-2591,10.基金项目
南方电网公司重点科技项目(K-GD2014-0621) （K-GD2014-0621）
国家高技术研究发展计划(863计划)(2006AA04Z202).Project supported by Key Science and Technology Project of China Southern Power Grid Co.,Ltd.(K-GD2014-0621),National High-tech Research and Development Program of China(863 Program) (2006AA04Z202). （863计划）
