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

As the main artery of the power grid,the power transmission line requires live repair and maintenance to make it safe and stable.Manual live repair requires a large amount of labor and high risk.The existing method uses live robots to replace manual repairs,which can effectively solve the disadvantages of manual operations.With the development of live working robots,traditional live working robots manually hoist and go online,which seriously affects their working efficiency and is highly dangerous.Although the existing automatic online platform can solve the safety problem of manual online,the overall online platform is complicated and has corresponding requirements on the terrain.Therefore,how to realize the high efficiency,stability and safety of line robots is a research hotspot in the field of line robots.The main research in this paper includes the design of mechanical structure,robot ascent and online process control,control system and hardware design,and summarizes and summarizes key technical issues.First of all,this article analyzes the working environment and structural characteristics of the power transmission line robot.Based on the existing hoisting method,a scheme of a live working robot that autonomously goes up and down the transmission line is proposed.This scheme uses the unmanned aerial vehicle to place the movable hook assembly and the robot.Combine to realize the robot’s autonomous online and offline.Secondly,the overall mechanical structure of the automatic loading and unloading robot is introduced in detail,which is divided into a walking arm frame mechanism,an automatic loading and unloading auxiliary mechanism and a loading and unloading mechanism.The fuzzy-PID compound control method is used to achieve the stability of the robot’s ascent process.During the ascent process,the left-eye camera uses the R-SSD vision algorithm to calibrate the transmission line,intercept the calibration frame in the image and obtain its center position.By establishing a parallel binocular stereo vision model,the coordinates of the point to be measured on the transmission line are solved,and the vertical distance between the robot and the point to be measured is obtained.By setting the vertical distance between the robot and the point to be measured,it is judged whether the robot has reached the on-line position,so as to realize the automatic on-line of the robot.Finally,the visual inspection and visual control methods are integrated with the online and offline robot control program to complete the design of the automatic online and offline measurement and control system software and interface,and develop the robot test prototype to simulate the line test ascent and online process to verify the automatic up and down The reliability and stability of the online robot structure and the ascent and online process control.