Intelligent live-line insulator replacement method for power transmission line

Abstract

The invention provides an intelligent live-line insulator replacement method for a power transmission line, and belongs to the technical field of power operation and maintenance. An unmanned aerial vehicle is adopted to lift the insulator replacement robot to a working site, the robot is fixed to a cross arm, and then a mechanical arm is driven to execute insulator replacement work. In the aspect of the entity structure of the robot, a cross arm fixing mechanism carried on a chassis is designed, insulator replacement is completed through spring pins on mechanical arms, and operation is accurate and efficient; and meanwhile, an insulation structure and an electromagnetic shielding device are designed for the machine body, so that the safety is ensured. In addition, a position tracking and impedance control method is designed for the robot, and the reliability and safety of the robot during execution of an installation task are guaranteed in a power complex environment. And a remote monitoring and remote control operation system is designed, so that efficient two-way communication between the ground base station and the robot is realized. According to the invention, the safety and efficiency of insulator electric replacement operation can be obviously improved, and the working cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power operation and maintenance, and specifically relates to a method for intelligent live replacement of insulators of a power transmission line. Background Art

[0002] During the long-term operation of high-voltage transmission lines, they will be subjected to the influence of many harsh working environments such as high altitude, high voltage, strong electromagnetic interference, etc., which will lead to the pollution and damage of the transmission line insulator strings, the displacement and damage of the anti-vibration hammer, the broken, scattered and warped wire strands, the loose bolts of the tension clamp and the drain plate, etc. In particular, the heating of the insulator porcelain bottle may even cause the explosion of the insulator steel cap and the breaking of the insulator string. The temperature rise caused by the loosening of the drain plate bolts not only causes the waste of electric energy, but also may cause the deformation and damage of the tension clamp in serious cases, which will directly affect the normal operation of the power grid. Therefore, these deteriorated insulators must be replaced as soon as possible, otherwise it will threaten the safe operation of the line.

[0003] Replacing insulators after a power outage is undoubtedly the safest and most reliable way. However, shutting down the line will bring great economic losses, and the line outage will reduce the stable reserve of the large power grid and increase the loss of the transmission line. Therefore, how to safely and efficiently replace insulators under power has always been a technical goal in this field. Replacing insulator strings under power is a kind of live work. According to the relationship between the human body of the worker and the live body, it can be divided into three categories: equipotential work, ground potential work and intermediate potential work. The research and development of replacing insulator strings has also gone through four stages: insulation protection, insulation tools, insulation boom vehicles, and live work robots. The equipotential workers in the first three stages are always in high voltage and strong electric fields during work, and directly contact the high-voltage live parts. Therefore, the equipotential workers will be in danger of life if they make a slight mistake. The work tasks of equipotential workers who replace insulators under power are particularly dangerous and unavoidable so far. Not only should the high-voltage electric field and the harsh environment be considered, but climbing to the height of tens or even hundreds of meters of the insulation tower is also highly dangerous.

[0004] In recent years, robot technology has developed rapidly, making robots widely used in various fields. In the maintenance operations related to power systems, the use of robots for power maintenance operations can avoid operators being in dangerous environments such as high altitudes and high voltages, making maintenance operations safe and efficient. However, at this stage, the robot-based live insulator replacement technology still has huge deficiencies in control methods, control accuracy, and operating efficiency, resulting in limited application scope and unsatisfactory actual operating performance. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to improve the robot and the control method thereof to realize efficient and accurate live replacement of insulators.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] A method for intelligently replacing insulators on a transmission line while being energized, the method using an insulator replacement robot, the insulator replacement robot being provided with a chassis and a mechanical arm, a crossarm fixing mechanism being provided on the chassis, a power supply, a camera and the mechanical arm being mounted on the chassis, and a push-in / pull-out spring pin being provided on the mechanical arm; the method comprising the following steps: the insulator replacement robot is hoisted and transported to the crossarm by a drone, the insulator replacement robot is fixed to the crossarm by the crossarm fixing mechanism on its chassis, and the insulator replacement robot replaces the insulator by the push-in / pull-out spring pin on its mechanical arm.

[0008] Preferably, a communication module and a control drive module are further provided on the chassis, and the power supplies are respectively used to supply power to the camera, the robotic arm, the control drive module and the communication module. The control drive module is electrically connected to the robotic arm, and the control drive module and the camera are respectively electrically connected to the communication module.

[0009] Preferably, in the method, a neural network is used to estimate external disturbances and perform feedforward compensation, and a robust controller is designed based on a sliding mode control algorithm.

[0010] Preferably, in the method, an impedance control method based on force feedback is used to perform flexibly control the robotic arm.

[0011] Preferably, the impedance control method includes: a six-dimensional force sensor is provided at the end of the mechanical arm of the insulator replacement robot, the six-dimensional force sensor uploads the sensor data to the impedance controller, the insulator replacement robot uploads its positive kinematics information to the impedance controller, the impedance controller receives the sensor data and the positive kinematics information, and obtains the position tracking error by solving the impedance model, thereby forming a control instruction and sending it to the joint torque controller of the insulator replacement robot.

[0012] Preferably, in the method, a ground base station and an insulator replacement robot are used for bidirectional data transmission.

[0013] Preferably, the two-way data transmission includes the ground base station receiving video images, detection sensor data, and robot posture status information from the insulator replacement robot, and the ground base station sending a remote control command to the insulator replacement robot.

[0014] Preferably, the ground base station is provided with a host computer, in which robot control software and remote operation control software are installed, the host computer communicates with the robot controller through the robot control software, the host computer communicates with the remote operation device through the remote operation control software, and the robot controller is electrically connected to the insulator replacement robot.

[0015] Preferably, an insulating layer is provided on the outer surface of the insulator replacement robot, and an electromagnetic shielding device is provided on the insulator replacement robot.

[0016] Preferably, a self-locking mechanism is provided on the chassis, and when the cross arm fixing mechanism is fixed to the cross arm, the self-locking mechanism is used for reinforcement.

[0017] The present invention provides a method for intelligently replacing insulators on power transmission lines. The technical solution uses a drone to lift an insulator replacement robot to the work site, the robot is fixed on the cross arm, and then drives the mechanical arm to perform the insulator replacement operation. In terms of the physical structure of the robot, the present invention designs a cross arm fixing mechanism mounted on the chassis, and uses the spring pin on the mechanical arm to complete the insulator replacement, and the operation is precise and efficient; at the same time, the body itself is designed with an insulation structure and an electromagnetic shielding device, combined with its strong self-load capacity, to ensure safety. In addition, the present invention designs a position tracking and impedance control method for the robot to ensure the reliability and safety of the robot when performing installation tasks in a complex and changeable power environment. And a remote monitoring and remote control operating system is designed to achieve efficient two-way communication between the ground base station and the robot. The application of the present invention can significantly improve the safety and efficiency of the insulator electrical replacement operation, reduce the working cost, and has significant technical advantages.

[0018] The present invention effectively solves the visual positioning problem when replacing damaged insulators, the coordination problem between drones and robotic arms, the planning problem of multiple intelligent bodies between robotic arms, the intelligent grasping problem of robotic arms, etc. After being promoted, the present invention can reduce the power system failure losses caused by flashover and damage of insulators, reduce labor costs, vehicle costs, and the cost of using various tools and consumables, further improve the operation and maintenance efficiency and benefits of insulators in high-voltage power systems, strengthen the intelligent, intensive and lean scientific management of operation and inspection work, and greatly reduce the work risk factor of power workers, which has important value and significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the insulator replacement robot in the present invention.

[0020] Figure 2 It is the technical roadmap of robot tracking control in the present invention.

[0021] Figure 3This is a schematic diagram of the robot impedance control in the present invention.

[0022] Figure 4 It is a schematic diagram of the remote monitoring and remote operation system in the present invention.

[0023] Figure 5 It is the overall technical roadmap of the present invention. DETAILED DESCRIPTION

[0024] The specific embodiments of the present invention will be described in detail below. In order to avoid too much unnecessary details, the well-known structures or functions will not be described in detail in the following examples. The approximate language used in the following examples can be used for quantitative expression, indicating that the quantity can be allowed to have a certain change without changing the basic function. Unless otherwise defined, the technical and scientific terms used in the following examples have the same meaning as those generally understood by those skilled in the art to which the present invention belongs.

[0025] A method for intelligently replacing insulators on a transmission line under power, the method adopts an insulator replacement robot, the insulator replacement robot is provided with a chassis and a mechanical arm, a cross arm fixing mechanism is provided on the chassis, a power supply, a camera and the mechanical arm are mounted on the chassis, and a push-in and push-out spring pin is provided on the mechanical arm; the method comprises the following steps: the insulator replacement robot is lifted and transported to the cross arm by a drone, the insulator replacement robot is fixed to the cross arm by the cross arm fixing mechanism on its chassis, and the insulator replacement robot replaces the insulator by the push-in and push-out spring pin on its mechanical arm. Wherein, a communication module and a control drive module are also provided on the chassis, the power supply is respectively used to supply power to the camera, the mechanical arm, the control drive module, and the communication module, the control drive module is electrically connected to the mechanical arm, and the control drive module and the camera are electrically connected to the communication module respectively. In the method, a neural network is used to estimate the external disturbance and make feedforward compensation, and a robust controller is designed based on a sliding mode control algorithm. In the method, an impedance control method based on force feedback is used to flexibly control the mechanical arm. The impedance control method comprises: a six-dimensional force sensor is provided at the end of the mechanical arm of the insulator replacement robot, the six-dimensional force sensor uploads the sensor data to the impedance controller, the insulator replacement robot uploads its positive kinematics information to the impedance controller, the impedance controller receives the sensor data and the positive kinematics information, and obtains the position tracking error by solving the impedance model, and forms a control instruction based on the position tracking error, and sends it to the joint torque controller of the insulator replacement robot. In this method, a ground base station is used to perform bidirectional data transmission with the insulator replacement robot. The bidirectional data transmission comprises that the ground base station receives the video image, detection sensor data, and robot posture state information from the insulator replacement robot, and the ground base station sends a remote control command to the insulator replacement robot. The ground base station is provided with a host computer, in which robot control software and teleoperation control software are installed, the host computer communicates with the robot controller through the robot control software, the host computer communicates with the teleoperation device through the teleoperation control software, and the robot controller is electrically connected to the insulator replacement robot. An insulating layer is provided on the outer surface of the insulator replacement robot, and an electromagnetic shielding device is provided on the insulator replacement robot. A self-locking mechanism is provided on the chassis, and when the cross arm fixing mechanism is fixed to the cross arm, the self-locking mechanism is used for reinforcement.

[0026] 1. Robot structure

[0027] The main structure of the insulator replacement robot mainly includes two parts: chassis and mechanical arm. The chassis is reliably fixed on the cross arm through the cross arm fixing mechanism, and is equipped with a power system to provide power for the robot movement. At the same time, it is equipped with a camera to transmit the current image information to the ground base station in real time. In order to realize the removal and installation of the insulator, a mechanical arm is installed on the chassis, and the mechanical arm replaces the insulator by pushing in and out the spring pin. Before the robot starts working, it is first hoisted by a drone and installed on the cross arm to ensure that the overall mass of the robot is light enough and has a self-locking device, which ensures the reliable fixation of the robot.

[0028] The insulator replacement robot works in an electrically charged environment. First of all, the insulation performance of the robot must be guaranteed to avoid safety accidents caused by short circuits or breakdown of high voltage in the line due to poor insulation performance. In order to ensure the stability of the circuit signal during the robot's operation, an electromagnetic shielding device is designed to prevent the influence of electromagnetic interference in the environment.

[0029] like Figure 1 As shown, the robot body structure mainly includes two parts: chassis and robotic arm. The chassis is reliably fixed on the cross arm and is equipped with a power supply system to provide power for the robot movement. At the same time, it is equipped with a camera to transmit the current image information to the ground base station in real time. In order to realize the removal and installation of insulators, a robotic arm is installed on the chassis, and the robotic arm replaces the insulator by pushing in and out the spring pin.

[0030] 2. Robot position tracking and impedance control method

[0031] The robot's working environment is complex and changeable, and there are large external disturbances. In order to ensure the robust performance of the robot's position tracking control system, the present invention estimates and compensates for the external disturbance through an adaptive neural network. The controller is based on a sliding mode controller with strong robustness and good rapidity, and adopts a comprehensive control strategy of position feedback plus disturbance estimation as feedforward to achieve high-precision position tracking of the robot.

[0032] like Figure 2 As shown, in order to improve the reliability of the robot during installation and improve the dynamic response, a neural network known for universal approximation is used to estimate the external disturbance and make feedforward compensation. A robust controller is designed based on the sliding mode control algorithm to achieve high-precision tracking control.

[0033] During the operation, the robot's mechanical arm contacts the insulator and its spring pin. Under this condition, the position tracking strategy is very likely to generate huge contact force due to slight tracking errors, which may damage the insulator or even cause a safety accident. Therefore, the present invention adopts an impedance control strategy based on force feedback to achieve flexible control of the insulator installation of the mechanical arm. Figure 3First, the target impedance model is designed, and the force signal is collected through the joint force sensor or the six-axis force sensor at the end of the manipulator. Then, the force signal is brought into the impedance model of the outer loop of the controller to solve the position tracking error. The position tracking strategy is used in the inner loop of the control to achieve the convergence of the tracking error, and finally the impedance control of the manipulator in the insulator replacement task is realized.

[0034] 3. Remote monitoring and teleoperation system of robots

[0035] Considering that the insulator replacement robot itself has a relatively large power requirement and is limited by size and mass, a robot power supply and energy optimization management system with small size, light weight and large capacity has been developed. A remote communication and monitoring system for the robot under long-distance strong electromagnetic interference conditions, monitoring and remote control of the robot, is also developed to achieve two-way data transmission between the ground base station and the insulator replacement robot. Figure 4 As shown in Figure 1, on the one hand, ground monitoring personnel can receive information such as video images, detection sensor data, and robot posture status from the robot; on the other hand, ground monitoring information can also issue various remote control commands to the robot.

[0036] In summary, the operating subject of the present invention is an insulator replacement robot, and the main structure of the robot consists of two parts: a chassis and a mechanical arm. The chassis is equipped with a power supply system and a camera, which are respectively used to provide energy to the entire robot system and collect image information to the ground operating table in real time, and the onboard mechanical arm is mainly used to complete the installation of the ball head at the upper end of the insulator and the installation of the cup head spring pin at the lower end of the insulator.

[0037] When the replacement robot is working, the drone first drives the onboard mechanical arm to move above the insulator to be replaced by the robot, and then uses the mechanical arm to complete the installation task of the insulator. During this process, the change of load will interfere with the stability of the control system, so a strong robust control method is used to achieve the stable flight of the drone and the installation of the insulator. For the insulator installation task of the insulator replacement robot, pure position tracking control is prone to generate large collision forces due to installation errors. At the same time, the mechanical arm adjusts the posture through force feedback. Therefore, the present invention adopts an impedance control method to achieve the robot's insulator replacement task. At the same time, due to the extremely complex working environment, it is difficult to achieve complete unmanned operation, so the installation of the insulator is achieved by manual remote control.

[0038] The embodiments of the present invention are described in detail above, but the contents are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the scope of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for intelligently replacing insulators on power transmission lines, characterized in that: The method adopts an insulator replacement robot, which is provided with a chassis and a mechanical arm, a crossarm fixing mechanism is provided on the chassis, a power supply, a camera and the mechanical arm are mounted on the chassis, and a push-in and push-out spring pin is provided on the mechanical arm; the method comprises the following steps: the insulator replacement robot is lifted and transported to the crossarm by a drone, the insulator replacement robot is fixed to the crossarm by the crossarm fixing mechanism on its chassis, and the insulator replacement robot replaces the insulator by the push-in and push-out spring pin on its mechanical arm.

2. The method for intelligently replacing insulators on power transmission lines according to claim 1 is characterized in that: A communication module and a control drive module are also provided on the chassis. The power supplies are respectively used to supply power to the camera, the robotic arm, the control drive module and the communication module. The control drive module is electrically connected to the robotic arm, and the control drive module and the camera are respectively electrically connected to the communication module.

3. The method for intelligently replacing insulators on power transmission lines according to claim 1, characterized in that: In this method, a neural network is used to estimate the external disturbance and make feedforward compensation, and a robust controller is designed based on the sliding mode control algorithm.

4. The method for intelligently replacing insulators on power transmission lines according to claim 1, characterized in that: In this method, an impedance control method based on force feedback is used to perform flexible control of the robotic arm.

5. The method for intelligent live replacement of insulators in a power transmission line according to claim 4, characterized in that: The impedance control method includes: a six-dimensional force sensor is provided at the end of the mechanical arm of the insulator replacement robot, the six-dimensional force sensor uploads the sensor data to the impedance controller, the insulator replacement robot uploads its positive kinematics information to the impedance controller, the impedance controller receives the sensor data and the positive kinematics information, and obtains the position tracking error by solving the impedance model, thereby forming a control instruction and sending it to the joint torque controller of the insulator replacement robot.

6. The method for intelligently replacing insulators on power transmission lines according to claim 1, characterized in that: In this method, a ground base station is used to perform bidirectional data transmission with the insulator replacement robot.

7. The method for intelligently replacing insulators on power transmission lines according to claim 6, characterized in that: The two-way data transmission includes the ground base station receiving video images, detection sensor data, and robot posture status information from the insulator replacement robot, and the ground base station sending a remote control command to the insulator replacement robot.

8. The method for intelligently replacing insulators on power transmission lines according to claim 1, characterized in that: The ground base station is provided with a host computer, in which robot control software and teleoperation control software are installed. The host computer communicates with the robot controller through the robot control software, and the host computer communicates with the teleoperation device through the teleoperation control software. The robot controller is electrically connected to the insulator replacement robot.

9. The method for intelligently replacing insulators on power transmission lines according to claim 1, characterized in that: An insulating layer is arranged on the outer surface of the insulator replacement robot, and an electromagnetic shielding device is arranged on the insulator replacement robot.

10. The method for intelligently replacing insulators on power transmission lines according to claim 1, characterized in that: A self-locking mechanism is provided on the chassis, and when the cross arm fixing mechanism is fixed to the cross arm, the self-locking mechanism is used for reinforcement.

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