架空输电线路机器人全自主巡检系统及示范应用

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 DemonstrationApplication Based on Robot for Overhead Transmission Lines

彭向阳1,钱金菊1,吴功平2,麦晓明1,魏莱3,饶章权1

1.广东电网有限责任公司电力科学研究院,广州510080

2.武汉大学动力与机械学院,武汉430072

3.广东电网有限责任公司惠州供电公司,惠州516001

基金项目：南方电网公司重点科技项目(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(863Program)(2006AA04Z202);

摘要

机巡作业是当前电力巡检的主要发展方向,但与直升机、无人机以及变电站机器人相比,我国输电线路机器人巡检尚未达到实用化水平。为此,对输电线路机器人实用化巡检关键技术开展了研究,建立了机器人典型作业模式,研发了穿越式、跨越式两类巡检机器人,提出了机器人行走路径改造方法,首次设计了机器人自动上下线装置,并完成了机器人全自主巡检系统的研制。机器人通过了多种复杂自然环境和电磁环境工况的试验考核,以及户外真型线路试验段的功能测试,在500kV带电运行线路开展示范应用,对线路设备同时进行可见光和红外检测。巡检中暴露了巡检系统存在的问题并进行分析解决,提出了机器人异常情况下的紧急救援措施并成功开展带电救援作业。机器人单次巡检里程达到10km以上,巡检应用取得良好效果,机器人巡检系统达到一定的实用化水平。

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;

DOI：10.13336/j.1003-6520.hve.20170731019

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 on500kV 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 of10km or more,and the inspection application has achieved good results,the robot inspection system has reached a certain practical level.

KEY WORDS:overhead transmission lines;robot;inspection system;full automatic inspection;robot autonomous on-line and off-line;emergency rescue;demonstration application;

0引言

我国地域辽阔,各地区的地理气候等自然环境差异较大,电力线路巡检经常需要经过高山、江河、湖泊地区,并且经常遭遇严重覆冰等自然灾害,使得电力线路巡检任务繁重和异常艰难。传统人工巡线存在工作量大、效率低、巡检准确度低且危险性高等缺点。随着我国电网规模增大,而相应运维资源、人力物力并未等比例提升,急切需要先进巡检手段提高电力线路巡检能力。

目前较先进的巡检手段主要有：直升机巡检、大型无人机巡检、中小型无人机巡检和智能机器人巡检等。有人直升机巡检效果好,但存在空域控制、巡检成本等因素,且巡检周期长,短则3月或6月一巡,长则1a一巡[1-2]。大型无人机巡检方面,南方电网实现了超低空、超视距复杂环境下大型无人机多传感器全自动巡检,仍在进行深化研究,在我国电网大范围开展实用化巡检仍需时间,且技术门槛相对较高[3-5]。小型无人机巡检因其机动灵活、携带方便,在一定程度上减轻了巡检人员工作量,在国家电网和南方电网已逐渐普及应用[6],但续航时间短,受巡检人员精神状态影响,不能长时飞行,限制了巡检距离,巡检时需要将无人机携带至所检杆塔附近才能飞行。

相比之下,输电线路机器人巡检虽然速度较慢,但是可以长时间在线巡检、多次重复巡检,且能适应跨越大范围林区、大面积水域以及其他复杂地理环境和交叉跨越环境的线路巡检,具有全自主巡检、无巡视盲区、巡视周期短、巡检费用低等显著优势,是输电线路智能巡检技术发展的重要方向[7]。