The Design And Implementation Of Unmanned Aerial Vehicle Maintenance Operation System Based On Manipulator

Overhead transmission lines are always located in a remote area with wide coverage and harsh natural environment.Poles and towers are usually crossed over areas of complex terrain.The operation mode of relying on traditional manual inspection for electric poles and towers is not only difficult,inefficient and costly,but also threatens the life safety of staff in a long period of inspection under complex geographical environment.With the continuous development of unmanned aerial vehicle(UAV)and sensor technology,the inspection of power transmission equipment by using some devices on UAV has provided a new technical idea for the inspection of overhead transmission lines under complex environment.Moreover,it is expected to solve the technical shortcomings of manual maintenance.In this paper,the design and realization of UAV inspection system based on mechanical arm is taken as the main goal.What's more,the following specific research work is carried out.First of all,as we all know,the function of existing inspection equipment are simple,and most of the equipment are non-contact mode.Therefore,this paper put forward a design scheme of UAV inspection system based on mechanical arm for typical 35 k V AC transmission lines and towers.According to the relevant industry standards,the design parameters of prototype is obtained.Then,the models and sizes of different parts for the whole system are confirmed.In addition,the structure of mechanical arm system,the electromagnetic interference protection for UAV and other important points are designed,which is fully considered the whole equipment insulation,anti-electromagnetic interference and other performance requirements.Next,in order to verify the rationality of the design scheme of UAV inspection system based on mechanical arm for typical 35 k V AC transmission lines and towers,the finite element model of UAV inspection system is established,which is combined with the structure parameters of 35 k V AC transmission line towers by Tianjin Electric Power Research Institute.This paper focus on exploring the operation condition and influence degree of inspection system under the adjacent space electric field of 35 k V AC transmission lines.Moreover,the changing situation of maximum electric field intensity and voltage value on some typical parts of UAV inspection system is analyzed,such as the mechanical arm,rotor,frame and fuselage.The simulation results shows that the UAV inspection system has no breakdown risk during the operation process of approaching the transmission line.What's more,the equipment can operate reliably.Finally,in order to verify the compatibility of the test prototype with the expected technical objectives and relevant standards,a test platform of UAV inspection system for 35 k V transmission line is built to carry out pressure test on the prototype.Furthermore,this paper conducts several subsequent inspection tests on multiple 35 k V AC transmission lines for verifying the applicability and endurance of the UAV inspection system.Those test results show that the UAV inspection system's image delay and distortion,anti-interference ability,shielding performance,electrical inspection ability,mechanical arm's withstand voltage ability and the other abilities are fit the technical indicators of the prototype.In addition,the UAV inspection system for 35 k V transmission line is appropriate for the daily inspection requirements of the power grid.