Design of overhead ground wire repair robot based on unmanned aerial vehicles

Abstract

AbstractAiming at the problem that it is impossible to accurately transport the aerial ground wire repair robot to the repair point and efficiently repair the ground wire broken strands and scattered strands, this paper designs an aerial ground wire repair robot based on Unmanned Aerial Vehicle (UAV). Firstly, the mechanical structure of the overhead ground wire repair robot is selected and designed, and the information transmission and the cooperative operation of each module are realized. A landing mark based on ArUco code is designed, which uses C++ for visual navigation, and then uses the double closed‐loop Proportional Integral Derivative (PID) control method to control the position and attitude of the UAV, so as to realize the tracking of the robot position by the UAV. At the same time, the mechanical structure and the control method of the UAV hanging device are designed to cooperate with the overhead ground wire repair robot to ensure the accurate completion of the repair operation. Finally, a UAV‐based aerial ground wire repair robot prototype was developed and successfully applied to the repair operation of the broken strand of the aerial ground wire of the 66 to 67 tower of the 500 kV Jiangzi line in Ya'an. It is verified that the UAV‐based aerial ground wire repair robot studied in this paper has a good engineering application value.