Research On Intelligent Inspection Equipment With Three-arm Retractable Structure On Transmission Line

The safe running of power supply system is of great importance.Routine inspection to electric transmission lines plays a vital role to ensure the safe operation of power system.Due to the wide distribution,long distance of transmission line and complex environment,the manual check,widely used as regular visit work,had disadvantages such as great intensity,high cost and lack of quality guarantee.Presently,the intelligent inspection equipment(inspection robot)is significantly developed.However,the critical technology awaits improvement since the present inspection equipment is defective with its big size,structure complexity and clumsiness.Particularly,most inspection equipment is of two-arm structure and encounters difficulties in positioning on the transmission line and stabilizing with single arm on the line.Therefore,it is imperative to work out a reliable and easy way for positioning and control.With regard to the above mentioned problems,based on the project Research on Intelligent Inspection Equipment on Transmission Line licensed in 2014 by State Grid Corporation of China,this research develops new intelligent inspection equipment.This research does significant exploration to the inspection equipment with respect to light structure,easy operation,efficient obstacle crossing and optimizing control by profound research on the dynamics properties,control algoritym and simulation tests.This thesis designs an inspection device,capable of steady walking on earth line and obstacle crossing,and conducts research on the dynamics and control strategy.An inspection robot body with three-arm retractable structure is designed,aiming at working on the 220kV transmission line environment.Details about the hardware and software of control systems are also provided.The dynamic simulation test on the virtual prototype justifies the feasibility of the design.Adaptive PD control strategy is adopted to ensure the success of obstacle crossing.The tests of physical prototype show the steady walking and auto obstacle crossing of inspection robot.The specific contents are as follows.Firstly,an inspection robot body with three-arm retractable structure is designed in accordance with the character of working environment,especially the special structure of earth line.Mathematical modeling is done with reference to the inspection environment and inspection content,the weather and environment of overhead transmission line.The proper structure of the line-scout is designed,including the walking mechanism,opening and closing fixture,the brake mechanism,obstacle avoidance,and other auxiliary mechanisms,such as the balance weight mechanism.Secondly,dynamic simulation of inspection robot is carried out.Based on virtual prototype technology,dynamic simulation in ADAMS,imported from 3D model from Pro-E,shows the process of steady walking,and obstacle crossing of torsional damper,suspension clamp and strain clamp.Thirdly,one walking and obstacle-crossing control strategy and details of hardware and software of control system are provided.Adaptive PD control strategy is applied to the tracking control of the obstacle-crossing trajectory.The hardware control system is of three-layer hierarchical design with monitor level for man-machine interaction,organization layer for data collection and ARM controller system and executive layer for motors.The software system mainly consists of the ARM software design and the man-machine interface design for two remote controller devices(PC and handheld remote device).Finally,physical prototype is tested in three stages:the laboratory stage,mainly for the basic functional test,the low altitude test for the obstacle crossing and velocity test and 220kV field test for the whole engine test.The development of the intelligent inspection equipment has met the research prospects.The structure device and the control system adopted are through the simulating test and prototype test.The prototype test shows that the inspection robot is capable of steady walking on earth line and auto obstacle crossing.Besides,the inspection robot is capable of video scanning of transmission line,armour clamp and support towers,presenting better performance.