Research And Design For Broken Strand Repair Robot On Power Transmission Lines

The power transmission line is an important part of the power transmission network.It runs in the open air for a long time and is affected by factors such as complex climate,internal stress,corrosion,lightning strikes,and external force damage.The power transmission line is prone to cracks in the wire,breakage of the aluminum wire,and loosening.As a result,the current carrying capacity of the power transmission line is reduced,the local heating of the broken strand position is severe,and the safety distance between the lines is shortened,affecting the safe running of the line.Even serious accidents such as phase-to-phase short circuits and flashovers of the power transmission lines may occur.Therefore,repairs must be made to eliminate safety hazards in time.Traditional manual repair methods need to climb towers and work in high altitude and strong electromagnetic field environments.Most of them are in a power-off state.Even if they are live overhaul,they must wear insulating clothing,which has the disadvantages of high labor intensity,high risk,and low efficiency.The use of robots instead of manual operations can effectively reduce labor intensity and danger and improve work efficiency.This thesis firstly analyzes the specific working environment of broken strand repair robot,as well as the tasks of wire breakage and broken strand repair,and summarizes the functions that the robot body must perform in order to repair the broken strand using robots,so as the clamp block type repair operation method and the robot broken strand repair working process is proposed.According to the clamp block patch operation method,the structural design of the broken strand repair robot body is proposed for power transmission lines,including the body movement mechanism,working manipulators,and the repair end of clamp block,enabling the robot to walk along the line,climb the slope,and stride across the anti-vibration hammer.In order to improve the intelligence level of the robot broken strand repair operation,a servo control method based on machine vision is proposed to make up for the insufficiency of the recognition accuracy of traditional visual detection under the influence of complex object background and strong light.,the robot automatically can move to the wire breaking position by using the deep learning wire breakage detection method.Through the binocular vision measurement system,the three-dimensional coordinates of the object point are obtained,the kinematics model of the working manipulator is used to solve the joint movement amount,and the end effector of the working manipulator is controlled to autonomously locate the object point,and the straightening of the bifurcated aluminum line is completed.And the broken strand wire is wrapped by using of clamp block repair end and other tasks is accomplished.Finally,the broken strand repair robot experimental prototype was developed,and the hardware and software design of the robot control system was completed.Using C-sharp language and VS platform,the proposed visual detection and servo control algorithm were implemented in the system control program.Physical prototype performance tests were performed by placing the robot on the analog lines and field lines,including broken strand detection,object positioning,and strand repair operations to verify the feasibility and stability of the broken strand repair robot system.