电力学报2025，Vol.40Issue(5)：352-362,11.DOI:10.13357/j.dlxb.2025.038
高压线路巡检修复机器人的设计与绝缘子缺陷检测
Design of a High-voltage Power Line Inspection and Repair Robot and Insulator Defect Detection
韩凤 1张红卫 1郑宇舟 2马嘉豪 2王泽楠2
作者信息
- 1. 常州信息职业技术学院,江苏常州 213164
- 2. 江南大学机械工程学院,江苏无锡 214122
- 折叠
摘要
Abstract
To address the issues of low efficiency and high safety risks associated with traditional manual inspec-tion methods for high-voltage power lines,this paper designs an integrated robotic system integrating intelligent detection,autonomous inspection and online repair.In terms of mechanical design,tailored for the aerial cable environment,a"dual-arm inspection,single-arm obstacle crossing"scheme is proposed.The system integrates two repair modules namely insulator cleaning+pollution flashover coating,and cable insulation wrapping to achieve integrated treatment of typical line defects.For visual detection,to accurately identify the insulators and their various defects(such as breakage,pollution,flashover,etc.),a deep learning detection algorithm with the YOLOv8n model as the core is developed based on the State Grid CPLID dataset.The introduction of a slicing inference method significantly enhances the detection capability for small-scale defects.Experimental results demonstrate that the designed robot has a stable structure and smooth,reliable obstacle-crossing maneuvers.The defect detection model achievs a detection accuracy(PmAP50)of 95.7％for the insulator body,and also exhib-ites strong detection capability for key defects such as breakage and flashover,indicating high overall robustness.This research provides a systematic solution,spanning from mechanical design to intelligent algorithms,for achieving automated"inspection-identification-repair"integrated maintenance of high-voltage power lines.关键词
高压线路/巡检机器人/YOLOv8n/缺陷检测/越障机构/绝缘子Key words
high-voltage lines/inspection robot/YOLOv8n/defect detection/obstacle-crossing mechanism/in-sulator分类
信息技术与安全科学引用本文复制引用
韩凤,张红卫,郑宇舟,马嘉豪,王泽楠..高压线路巡检修复机器人的设计与绝缘子缺陷检测[J].电力学报,2025,40(5):352-362,11.
