Development Of Live Working Robot For 500 KV Transmission Line

The 500kV double-circuit line on the same tower is the backbone network in my country’s transmission lines.At present,the maintenance work of the 500kV double-circuit line on the same tower mainly relies on manual operation,which requires power outage operation,resulting in large economic losses.At the same time,there are potential safety hazards and high labor intensity in manual live work under high altitude,high pressure,high temperature and other environments.Therefore,it has become an inevitable trend for robots to replace manual work on transmission lines.At present,live working robots have poor adaptability,which greatly limits the application scenarios of robots.In view of the complex environment on the four-split conductor,this thesis studies and designs a 500kV transmission line live working robot.The main research contents are as follows:Firstly,according to the analysis of the environment of the four-split conductor of the transmission line,the characteristics and functional requirements of the online operation are determined,and an overall configuration of a live working robot that can adapt to the four-split conductor is proposed,and each mechanism is designed.On this basis,the live working process is formulated.Secondly,this thesis proposes a method for identifying and locating obstacles in transmission lines that integrates lidar and vision.The EfficientDet target detection algorithm is used to identify and classify obstacles and obtain the area where the obstacles are located in the pixel coordinate system.Through the combination of lidar and cameras The calibration projects the laser point cloud to the pixel plane,and extracts the point cloud information in the target detection frame,which solves the problem of low positioning accuracy of the vision sensor,easy to be disturbed by the outside world,and difficult to identify the target type by the laser radar.Thirdly,formulate the robot’s autonomous obstacle surmounting plan,model the kinematics and dynamics of the walking arm and auxiliary arm of the live working robot in the process of obstacle surmounting,and use the robust PD algorithm to control the trajectory of the robotic arm during the obstacle surmounting process.,to improve the accuracy and robustness of the obstacle-crossing control.Finally,the control system hardware,software design and electromagnetic protection design are carried out for the live working robot of the transmission line,the test prototype is developed,and the autonomous online and offline experiments are carried out on the simulated line,and the autonomous obstacle crossing experiment for the spacer and the suspension clamp is carried out.The experimental results show that the robot has high obstacle clearance efficiency,and the accuracy of the identification and positioning method of lidar and vision fusion can meet the needs of the robot to overcome obstacles autonomously and is less affected by the external weather.The manipulator control method significantly enhances the robustness of the robot in the process of obstacle crossing.