| The power inspection and grounding operation during the operation and maintenance of the distribution network is a necessary measure to ensure the safety of the power repair.At present,the power inspection and the hanging of the ground wire are mainly performed by the distribution network operators climbing the poles.However,this method of operation is not only labor-intensive,dangerous,but also inefficient.Therefore,it is very necessary to develop a robot that can replace manual climbing on utility poles and perform electrical inspection and grounding operations.The thesis takes the existing climbing robots at home and abroad as the research basis,and develops the robot in combination with the 10kV operating environment of the distribution network and the requirements of the power inspection and grounding operation.Firstly,the overall structure of the pole-climbing electric inspection and grounding robot is designed,and a wheeled robot structure based on load counterweight adjustment is proposed.The robot can climb on the cone rod by designing the cooperation of the counterweight case and the climbing rod mechanism.The electric inspection and grounding operation scheme is proposed,a six-axis manipulator is designed,and the robot electric inspection and grounding wire hooking operation are realized by the visual servo control method.The lightweight improvement of the robot structure is made.Secondly,the mechanical model of the robot when climbing the pole is established,and the static analysis and simulation of the robot are carried out.By establishing the dynamic equation of the robot,the three-dimensional model of the robot is produced by using Solidworks software,and the dynamic simulation of the robot is completed in the ADAMS software.In order to improve the tilting problem of the center of gravity and the slipping situation of the robot when climbing,two leveling control methods and the anti-skid control of the robot based on variable universe fuzzy PID are studied.Then,the overall design of the robot control system is carried out,the circuit design and device selection in the robot hardware system are analyzed,and the software design of the robot control system is completed.In order to reduce the influence of the electromagnetic field on the robot during the high-altitude operation of the 10kV distribution network,the anti-interference design of the robot control chassis is carried out.Finally,the YOLOv4 algorithm is studied,and the YOLOv4 vision algorithm is used to identify the position of the grounding ring to improve the positioning accuracy of the robotic arm vision control.The prototype of the pole-climbing electric inspection and grounding robot is developed,and the laboratory installation and debugging and the 10kV distribution network on-site climbing test is carried out on the prototype.The test results show that:The pole-climbing distribution network inspection and grounding robot developed according to the method of the paper can realize the functions of climbing utility poles and inspection and grounding,thus ensuring the personal safety of operators,and improving the efficiency and automation of distribution network inspection and grounding operations. |
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