Research And Design Of Powered Disconnected And Connected Streamlined Operation Robots In Distribution Network

The Distribution network is an important part of the power system,ensuring the reliability of its power supply plays an important role in the normal operation of the whole power network.It is an important method to improve the operation reliability of distribution network to overhaul the distribution network line on line.At present,the traditional live maintenance of the distribution network is mainly carried out manually,and most workers wear insulation shielding clothing to stand in the insulation bucket.Most of these methods have high labor intensity,low work efficiency and high risk.In view of the disadvantages of manual live maintenance of distribution network,this paper research and designs the use of robots instead of manual for live disconnection and connection line operation of distribution network,which can well avoid or reduce the risk and labor intensity of manual operation,and at the same time improve the automation level of maintenance operation of distribution network.Firstly,the working environment of live operation in distribution network and the working method of live operation with robot are analyzed,and the key technologies of live operation with robot are discussed.In order to meet the requirements of live operation in the distribution network,the overall structure of the robot is studied,and the structure of the robot's body control box platform,the mechanical arm and the tools at the end of the operation are analyzed in detail.Secondly,the vision detection algorithm based on single transmission multi-frame detection(SSD)is studied to identify the conductor and the guide clip of the distribution network lines and determine the coordinates in the camera coordinate system.The hand eye calibration method is proposed to unify the coordinate system of the robot arm and the camera.Through the forward and inverse kinematics analysis of the robot arm,the accurate position of the operation target is determined to enhance the accuracy of the robot operation.Once again,according to the mechanical structure and operation planning of the robot,the measurement and control system of the robot body is designed.The parameters and model selection of the robot body control system and remote control hci hardware are introduced in detail.At the same time,this paper introduces the main control board of the robot body,the control board of the mechanical arm and the corresponding software of the remote control end.Finally,a prototype of the robot working on the distribution network disconnect and connect cut-off drain line is developed,and the mechanical arm test and robot working test are carried out,and the relevant experimental results are recorded.Experiments on the motion speed and rotation Angle of the robot arm show that the design of the robot arm meets the requirements of robot operation.The experiment of disconnection and connection line conducted by the robot shows that the robot can realize disconnection of the connection line on the distribution line,and can also lap up new connection line on the distribution line,which greatly reduces the labor intensity and risk coefficient of the operator.