电气技术2026，Vol.27Issue(1)：73-79,7.
变电站无人机带电绝缘子清洗及喷涂室温硫化硅橡胶的智能系统设计与验证
Design and verification of intelligent system for live insulator cleaning and room temperature vulcanizing silicone rubber spraying by unmanned aerial vehicle in substation
摘要
Abstract
Aiming at the low efficiency and high risk of traditional live work under strong electromagnetic interference and dense equipment in substations,this study proposes an intelligent unmanned aerial vehicle(UAV)operation system integrating dynamic safety modeling,spraying device,and dual-operator collaborative control technology.An electric-magnetic field joint-constrained dynamic safety distance model S=max(0.00127E,0.00125B)is constructed,reducing the collision risk by 37.4%compared with the traditional static model(p＜0.001).A lightweight carbon fiber folding spraying rod(extension range:0.3～0.55 m)and dual-mode vector nozzle are designed,achieving a 96.3%obstacle avoidance success rate within a 0.5 m equipment gap.A 5G ultra reliable&low latency communication(URLLC)-based dual-operator collaborative system is developed,compressing the single operation time to within 28 minutes and improving efficiency by 52.2%compared with manual work.Field experiments show that the system realizes full-process closed-loop control of live insulator cleaning and room temperature vulcanizing silicone rubber(RTV)spraying in 220 kV substations,providing a standardized solution for intelligent operation and maintenance of power grids.关键词
无人机(UAV)带电绝缘子作业/变电站/动态安全距离模型/喷涂装置/协同控制Key words
unmanned aerial vehicle(UAV)live insulator operation/substation/dynamic safety distance model/spraying device/collaborative control引用本文复制引用
ZHANG Junkang,WANG Huihuang,CHEN Weifan,CHEN Weibin,CHEN Shican..变电站无人机带电绝缘子清洗及喷涂室温硫化硅橡胶的智能系统设计与验证[J].电气技术,2026,27(1):73-79,7.基金项目
国网泉州供电公司揭榜挂帅项目"基于小型化无人机的变电站绝缘子清洗及喷涂PRTV装置的研制"(B31330240008) （B31330240008）
