| At present,China has built the world’s largest distribution network,and the distribution network lines often require professional personnel to conduct non-stop operations.In view of the high danger and labor intensity of manual live-line operation on power distribution network,it is important to study the intelligent robot for live-line operation on power distribution network.In this paper,we design the structure and control system of the power distribution live-line operation robot,including structure design,insulation protection design,teleoperation force feedback control,etc.,and provide a technical reference for the system construction of the power distribution liveline operation robot.The main research contents and results of this paper are as follows.1.structure and insulation protection design and experimental verification of the power distribution live-line operation robot.Firstly,according to the characteristics of the distribution network scenario and task requirements,the flexibility of the operation robot arm movement is analyzed by the maneuverability index,and the size optimization design is carried out by the numerical simulation method.According to the results of the joint torque variation of the operation robot arm dynamics simulation,the joint module is selected reasonably.The feasibility of the design method is proved by functional tests in many aspects.Secondly,the structural design of the aerial working platform and finite element simulation analysis of its main load-bearing platform are carried out to meet the requirements of yield strength of insulation materials and operational accuracy.In order to realize the safe isolation of man-machine and environment,a multi-level insulation protection design method of human insulation,ground insulation and inter-phase insulation is proposed,and the effectiveness of the method is verified through voltage withstand and live operation tests.2.Research on the motion control and master-slave teleoperation force feedback control of the power distribution live-line operation robot.Firstly,a control system scheme suitable for remote operation at high altitude is designed,and the KEB A CP505 controller is selected as the motion controller of the dual operation robotic arms,which greatly reduces the overall volume and weight,and provides a new control scheme for the system construction of the distribution network strip operation robot.Secondly,we analyze the process of gate opening of the operating robot arm,propose a gate opening control strategy for the influence of joint load weight torque,and select suitable parameters through multiple groups of control experiments to improve the opening success rate.In order to enhance the sense of teleoperation proximity,a nonlinear programming-based force sensor automatic calibration compensation method and a time-step optimization-based teleoperation control method are proposed to improve the accuracy of force level tracking.3.Aiming at the problems faced by the metallic tool type operation in the complex scenes of distribution network,an automatic operation method based on hand-eye system is proposed to solve the problems such as identification and positioning of small targets with weak texture.The method application process is analyzed by taking the lightning arrester removal operation as an example.For the identification and positioning problem of the nut on the arrester,the VGG16-UNet integrated network model is used to do semantic segmentation,and the precise positioning is done by the monocular-both-arms information fusion operation positioning algorithm,which improves the accuracy of visual servo positioning.Finally,the effectiveness and engineering practicality of the method are verified through distribution network line simulation experiments. |
PDF Full Text Request