广东电力2025，Vol.38Issue(11)：54-66,13.DOI:10.3969/j.issn.1007-290X.2025.11.006
绝缘子清扫机器人发展现状与控制技术研究综述
Review on Development and Control Technologies of Insulator Cleaning Robots
摘要
Abstract
With the continuous advancement of automation and intellectualization of the power systems,the research and application of insulator cleaning robots become a prominent focus in the power industry.This paper provides a comprehensive review of several common types of insulator cleaning robots,including water-washing,brushing,and dry-ice cleaning systems.It analyzes the development status and technical characteristics of various systems in terms of structure design,operating types,environmental adaptation,and so on,along with a summary of typical application scenarios.On this basis,the paper further investigates recent progress in motion control technologies,offering an in-depth comparisons of several representative methods,such as PID control,fuzzy PID control,neural network control,and visual servo control in terms of their application features,control accuracy,and robustness in cleaning tasks.By examining the advantages and limitations of various control strategies,this review provides theoretical insights and practical guidance for the optimized design and intelligent development of insulator cleaning robots.关键词
绝缘子清扫机器人/运动控制/PID控制/模糊PID控制/神经网络/视觉伺服控制Key words
insulator cleaning robot/motion control/PID control/fuzzy PID control/neural network control/visual servo control分类
信息技术与安全科学引用本文复制引用
陈强,秦际明,谭威龙..绝缘子清扫机器人发展现状与控制技术研究综述[J].广东电力,2025,38(11):54-66,13.基金项目
中国南方电网有限责任公司超高压输电公司科技项目(CGYKJXM20230142) （CGYKJXM20230142）
