输变电设备机器人智能巡检技术 彭向阳 王锐 麦晓明 吴功平 陈国强 著 彭向阳 王锐 麦晓明 吴功平 陈国强 编

前言 第 1 章 概述 ····································································· 1 1.1 电网巡检模式简介 ······································································· 1 1.2 输变电设备对智能巡检的需求 ························································ 2 1.3 巡检机器人技术发展现状与趋势 ····················································· 3 1.3.1 输电线路巡检机器人 ··························································· 3 1.3.2 变电站巡检机器人 ······························································ 5 1.4 本书主要内容 ············································································· 6 第 2 章 架空输电线路机器人巡检方法 ···································· 8 2.1 机器人巡检问题分析 ···································································· 8 2.2 机器人行驶路径的选择 ································································· 8 2.3 机器人巡检模式 ·········································································· 9 第 3 章 架空输电线路机器人巡检系统 ·································· 12 3.1 机器人巡检系统 ········································································· 12 3.2 机器人行驶路径设计 ··································································· 13 3.2.1 穿越越障机器人 ································································ 13 3.2.2 跨越越障机器人 ································································ 17 3.3 机器人本体设备 ········································································· 18 3.3.1 穿越越障机器人 ································································ 18 3.3.2 跨越越障机器人 ································································ 24 3.4 地面监控基站 ············································································ 29 3.5 塔上充电装置 ············································································ 30 3.6 自动上下线装置 ········································································· 32 3.6.1 工作原理 ········································································ 32 3.6.2 装置总体结构 ·································································· 33 3.6.3 装置各部分组成 ······························································· 33 3.6.4 装置安装 ········································································ 36 3.6.5 试验验证 ········································································ 38 3.7 任务载荷系统 ············································································ 40 3.7.1 任务载荷选型及集成 ·························································· 40 3.7.2 试验验证 ········································································ 45 第 4 章 输电线路机器人视觉检测定位技术 ···························· 50 4.1 机器人视觉系统及其伺服控制机构 ················································· 50 4.2 常规和异形障碍物的视觉检测定位 ················································· 51 4.2.1 检测思路 ········································································ 51 4.2.2 检测方法 ········································································ 51 4.3 手眼视觉模型及控制设计 ····························································· 59 4.3.1 手眼视觉模型 ·································································· 59 4.3.2 伺服控制设计 ·································································· 60 4.3.3 机器人自主找线流程 ·························································· 60 4.3.4 试验验证与评估 ······························································· 62 第 5 章 输电线路机器人能耗预测技术 ·································· 64 5.1 机器人能耗预测方案 ··································································· 64 5.2 机器人锂电池剩余电量估计 ·························································· 64 5.2.1 负载电压法 ····································································· 64 5.2.2 电池放电实验 ·································································· 65 5.3 线路工况、 机器人构型及巡检规划 ················································· 67 5.4 基于线路工况的能耗模型及续航预测 ··········································· 70 5.4.1 机器人静态能耗 ······························································· 70 5.4.2 机器人动态能耗 ······························································· 70 5.4.3 机器人总能耗 ·································································· 75 5.4.4 续航里程估计 ·································································· 75 5.4.5 能耗预测软件 ·································································· 75 第 6 章 输电线路机器人风载检测及控制技术 ························· 76 6.1 风载荷及其对机器人姿态的影响 ···················································· 76 6.2 机器人姿态检测与巡检作业控制 ···················································· 77 6.3 风载试验验证 ············································································ 79 第 7 章 输电线路机器人全自主巡检技术 ······························· 81 7.1 机器人自主定位 ········································································· 81 7.2 机器人自主巡检 ········································································· 85 7.2.1 巡检作业对象 ··································································· 85 7.2.2 巡检作业内容 ··································································· 86 7.2.3 巡检作业方法和流程 ·························································· 86 7.3 机器人自主越障 ········································································· 89 7.3.1 自主越障规划 ··································································· 89 7.3.2 面向对象的控制系统设计 ···················································· 90 7.4 机器人自主运行 ········································································· 93 7.5 机器人与地面基站自主交互 ·························································· 95 7.6 机器人自主故障诊断与复位 ·························································· 97 第 8 章 输电线路机器人软件系统设计 ································ 100 8.1 软件开发平台 ·········································································· 100 8.2 机器人本体软件 ······································································· 102 8.3 人机交互平台 ·········································································· 104 8.3.1 机器人运动交互控制系统 ·················································· 104 8.3.2 机器人视觉交互控制系统 ·················································· 106 8.3.3 太阳能充电控制系统 ························································ 106 8.4 巡检数据分析管理系统 ······························································ 107 8.4.1 系统结构 ······································································· 107 8.4.2 系统设计 ······································································· 108 8.4.3 系统实现 ······································································· 110 第 9 章 架空输电线路机器人性能检测 ································ 113 9.1 检测目的 ················································································ 113 9.2 检测对象 ················································································ 113 9.3 检测项目与方案 ······································································· 114 9.3.1 电磁兼容性能试验 ··························································· 116 9.3.2 气候（ 环境） 防护性能试验 ················································ 119 9.3.3 风载试验 ······································································· 121 9.3.4 淋雨试验 ······································································· 122 9.3.5 整机振动试验 ································································· 122 9.3.6 运输振动试验 ································································· 123 9.4 检测结果与评价 ········································································ 124 9.4.1 检测评价方法 ································································· 124 9.4.2 检测评价标准 ································································· 126 9.4.3 检测评价结果 ································································· 127 第 10 章 架空输电线路机器人巡检应用 ······························ 128 10.1 机器人巡检系统实用化要求 ······················································· 128 10.1.1 巡检系统组成及功能要求 ················································· 128 10.1.2 机器人功能及性能要求 ···················································· 128 10.1.3 地面监控基站要求 ·························································· 130 10.1.4 巡检数据管理系统要求 ···················································· 130 10.1.5 自 动上下线装置要求 ······················································· 131 10.1.6 塔上充电装置要求 ·························································· 131 10.2 机器人巡检应用技术规范 ·························································· 131 10.2.1 巡检方式 ······································································ 131 10.2.2 巡检作业要求 ································································ 132 10.2.3 巡检作业流程 ································································ 134 10.3 示范应用情况 ········································································· 135 第 11 章 变电站机器人巡检系统 ······································· 138 11.1 巡检系统组成 ········································································· 138 11.2 机器人本体 ············································································ 139 11.2.1 外形结构部件 ································································ 139 11.2.2 运动控制系统 ································································ 139 11.2.3 供电系统 ······································································ 142 11.2.4 传感器系统 ··································································· 143 11.2.5 导航系统 ······································································ 146 11.3 充电系统 ··············································································· 146 11.4 无线传输系统 ········································································· 147 11.5 本地监控后台 ········································································· 147 11.5.1 硬件设计 ······································································ 148 11.5.2 软件设计 ······································································ 148 11.6 环境适应性 ············································································ 153 第 12 章 变电站机器人智能巡检技术 ································· 155 12.1 组合导航技术 ········································································ 155 12.1.1 技术原理 ····································································· 155 12.1.2 实现方法 ····································································· 155 12.2 基于特征地图的定位技术 ························································· 158 12.2.1 技术原理 ····································································· 158 12.2.2 实现方法 ····································································· 158 12.2.3 应用效果 ····································································· 161 12.3 红外与数字地图辅助导航 ························································· 162 12.3.1 技术原理 ····································································· 162 12.3.2 实现方法 ····································································· 162 12.3.3 应用效果 ····································································· 164 12.4 基于立体视觉的机器人辅助定位 ············································· 164 12.5 任务路径规划 ········································································ 166 12.5.1 技术原理 ····································································· 166 12.5.2 实现方法 ····································································· 166 12.5.3 应用效果 ····································································· 170 12.6 可见光检测及模式识别 ···························································· 171 12.6.1 技术原理 ····································································· 171 12.6.2 实现方法 ····································································· 171 12.7 仪表定位 ·············································································· 173 12.7.1 技术原理 ····································································· 173 12.7.2 实现方法 ····································································· 174 12.7.3 应用效果 ····································································· 177 12.8 红外热像检测 ········································································ 178 12.8.1 技术原理 ····································································· 178 12.8.2 实现方法 ····································································· 178 12.9 基于立体视觉和红外热像的设备提取 ··································· 180 12.9.1 技术原理 ····································································· 180 12.9.2 实现方法 ····································································· 180 12.9.3 应用效果 ······································································ 183 12.10 声音检测及诊断 ···································································· 183 12.10.1 技术原理 ···································································· 183 12.10.2 实现方法 ···································································· 184 12.10.3 检验测试 ···································································· 186 12.11 机器人自动充电 ···································································· 188 12.11.1 技术原理 ····································································· 188 12.11.2 实现方法 ····································································· 188 12.12 充电房自动控制 ···································································· 189 12.12.1 自 动门控制 ································································· 189 12.12.2 自 动充电控制 ······························································ 190 第 13 章 变电站机器人巡检应用工程实施 ··························· 191 13.1 现场勘查 ··············································································· 191 13.2 任务规划 ··············································································· 191 13.3 设备安装 ··············································································· 191 13.4 巡检准备工作 ········································································· 193 13.5 工程实施计划 ········································································· 195 13.6 应用调试流程 ········································································· 195 第 14 章 变电站机器人巡检应用实践 ································· 196 14.1 红外检测电流致热型发热缺陷 ···················································· 196 14.1.1 单相绝对温度测量 ·························································· 196 14.1.2 相间温度对比测量 ·························································· 199 14.1.3 HGIS 站 SF 6 罐体测温 ······················································ 200 14.2 可见光检测开关分合闸状态 ······················································· 201 14.2.1 刀闸开合状态识别 ·························································· 201 14.2.2 开关分合状态识别 ·························································· 202 14.3 可见光检测表计读数 ································································ 203 14.3.1 SF 6 气压表 ···································································· 203 14.3.2 避雷器泄漏电流表 ·························································· 205 14.3.3 指针式避雷器计数器 ······················································· 206 14.3.4 数字式避雷器计数器 ······················································· 207 14.3.5 油位表 ········································································· 207 14.4 人工辅助诊断 ········································································· 209 14.4.1 红外检测电压致热型缺陷 ················································· 209 14.4.2 可见光检测设备外观缺陷 ················································· 209 14.5 音频检测设备异常振动或噪声 ···················································· 214 14.6 巡检应用中发现问题及改进 ······················································· 215 第 15 章 总结与展望 ······················································ 218 参考文献 ······································································· 220