Research of power transmission line maintenance robots in SIACAS
Research of power transmission line maintenance robots in SIACAS
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DOI：
10.1109/carpi.2010.5624428
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发表时间：
2010-11
期刊：
影响因子：
--
通讯作者：
Wan HongGuang;Jiang Yong;L. Aihua;Fang Lijin;Ling Lie
中科院分区：
文献类型：
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作者：
Wan HongGuang;Jiang Yong;L. Aihua;Fang Lijin;Ling Lie
为了监测电网的运行状况和发现电网的损坏情况，机器人技术已经取代了工人或直升机来执行输电线路的检查任务。中国科学院沈阳自动化研究所机器人国家重点实验室自2002年起，在国家高技术研究发展计划的支持下，重点开发了500kV特高压（EHV）电力电缆检测机器人。到目前为止，已经开发了三代巡检机器人原型。本文综述了SIACAS对这些原型的研究。然后，分别介绍了两种最新进展，即物理带状检测机器人和绝缘体检测机器人。对其关键技术如机构、控制系统、运行方式等进行了详细的阐述。现场试验结果表明，该机器人样机能够完成500kV超高压电力电缆的实际检测任务。
To monitor the running conditions and find out the damages of the power grids, the robotic technologies have been applied to conduct the inspection tasks of power transmission lines (PTLs) instead of worker or helicopter. Supported by the national high technology research and development program of China from 2002, the state key laboratory of robotics, Shenyang institute of automation, Chinese academy of sciences (SIACAS), has been focusing on the development of the inspection robot for 500kV extra high voltage (EHV) PTLs. Up to now, three generations of the inspection robot prototypes have been developed. In this paper, an overview of the research for these prototypes by SIACAS is given. Then, two latest developments which include a PTLs inspection robot and an insulator detection robot are introduced, respectively. The key technologies such as mechanism, control system, and operation modes, are described in detail. Field experimental results show that the robot prototypes can carry out the practical inspection tasks for 500kV EHV PTLs.