Abstract
In complex smart grid, the power maintenance robot is important equipment to ensure the reliable operation of high-voltage lines and it is a useful exploration to realize high-quality power transmission. In view of the increasingly prominent contradiction between the robot single operation function and the diversification of power grid maintenance operations, additional with the robot weak autonomous operation and intelligent behavior ability, this paper proposes a new configuration of a reconfigurable power robot with terminal functions and its autonomous operation behavior control method for the three typical tasks which are the high-voltage transmission line insulators, drainage plates, and dampers maintenance. Through the analysis and planning of the robot operation behavior, the robot finite state machine (FSM) model in the three operation states has been established. Through the introduction of the state transfer function in the FSM, the automatic switching control between the robot key operation states can be realized, and the robot motion planning can be optimized. The movement and working flow of the robot improve the robot operation intelligence and operation efficiency. Based on this, the robot autonomous operation control system has been designed and the robot physical prototype has been developed for three maintenance tasks of insulators, drainage plates, and dampers. Finally, simulation experiments and field operation tests verify the effectiveness and engineering practicability of the proposed method. Compared with traditional manual control, the autonomous behavior control method can significantly improve the robot operational efficiency and operational intelligence. At the same time, the robot multitask function and autonomous behavior control under different tasks can be realized and the method has strong versatility for different task objects and different line environments. The research and its promotion have important theoretical significance and practical application value for the power system operation and maintenance integration management.
Highlights
Electricity is the lifeblood of the national economy and highvoltage cables are an important channel for power transmission. eir special geographical environment and harsh natural environment will cause various faults on line, in order to ensure the safe, normal, and stable operation of highvoltage transmission lines, thereby, effectively reducing economic losses
As the assessment indicators of power transmission quality and operation safety are getting higher and higher, as well as the urgent needs of modern power system operation and management automation, the Complexity contradiction between this manual operation method and modern high-quality power transmission has become more and more prominent. erefore, it is an effective measure to replace the live line operation performed by the live line maintenance robot [5,6,7,8], which has important practical application value for improving operation efficiency, operation reliability, and worker safety. e robots currently studied are mostly only oriented to double operations [9, 10], and most of them are only oriented to a single operation
In order to verify the effectiveness of the robot autonomous behavior control method under different tasks, this paper developed a robot physical prototype system for insulators, drainage plates, and damper maintenance operations, under the jurisdiction of the State Grid Hunan Electric Power Transmission Maintenance Co., Ltd.; three types of operations tests were carried out on the live line
Summary
Electricity is the lifeblood of the national economy and highvoltage cables are an important channel for power transmission. eir special geographical environment and harsh natural environment will cause various faults on line, in order to ensure the safe, normal, and stable operation of highvoltage transmission lines, thereby, effectively reducing economic losses. It is necessary to regularly and irregularly perform maintenance and construction operations on line fittings and their operation environment [1,2,3,4] At present, such special operations in dangerous and harsh environments are all performed manually, which is labor-intensive and low-efficient and poses great personal safety risks. Erefore, it is an effective measure to replace the live line operation performed by the live line maintenance robot [5,6,7,8], which has important practical application value for improving operation efficiency, operation reliability, and worker safety. Erefore, the study of multitask-oriented power maintenance robots and their autonomous operation behavior control so as to realize the multipurpose function of the robot mobile platform has important theoretical significance and practical value for building a resource-saving and environment-friendly integrated operation of the power transmission grid. In [25,26,27,28], a multisensor-based transmission line identification and robot spatial posture positioning method has been proposed; it did not perform multisensor information fusion processing, thereby affecting the improvement of the overall robot operation efficiency
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