输变电设备机器人智能巡检技术

主要内容包括：输变电设备巡检模式及智能巡检需求，输电线路机器人巡检系统介绍，线路机器人视觉检测定位技术、能耗预测技术、风载检测及控制技术、全自主巡检技术、软件系统设计与开发，变电站机器人巡检系统介绍，变电站机器人巡检技术，输变电机器人巡检应用等。

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

前 言 输电线路和变电站是电力系统的重要组成部分，输变电设备安全可靠运行是保障社会生产、生活优质供电的前提。输变电设备巡检工作尤其关键，它是提前发现设备缺陷和隐患，预防电网故障的重要手段。我国地域辽阔，供电范围及电网规模巨大，各地区地理气候环境差异较大，使电力巡检任务繁重而艰巨。传统人工巡检存在工作量大、劳动效率低、巡检质量差、危险性高等缺点。近年来，无人机、机器人等智能巡检技术的应用，为我国电网巡检作业提供了全新的发展前景。 目前，根据采用的巡检工具或平台不同，我国输变电设备巡检可分为人工巡检、直升机巡检、无人机巡检、机器人巡检等多种巡检作业模式。早期电力巡检主要采用人工巡检方式，近年来直升机、无人机、机器人巡检在输电线路和变电站巡检中得到越来越多的应用。其中，变电站巡检主要有人工巡检和机器人巡检，输电线路巡检主要有人工巡检、直升机巡检、无人机巡检、机器人巡检等。 输电线路巡检方面，在人工巡检基础上，目前直升机、无人机巡检发挥着越来越重要的作用，但是直升机、无人机巡检存在如下一些局限性：一是直升机巡检存在人员安全问题，国内直升机巡检过程中多次发生人员伤亡事故；二是直升机巡检同样存在机上人员劳动强度大、巡检成本高等问题，并且巡检周期长，短则半年一巡，长则一年一巡；三是直升机、无人机巡检需要提前申请空域，受到空域管制影响；四是直升机和大、中型无人机巡检容易对线路通道附近人们的生产、生活造成影响，大型无人机巡检技术门槛相对较高；五是直升机巡检对城镇和城市郊区线路、110kV 及以下低电压等级线路的适用性差，小型无人机巡检机动灵活，但载荷能力小、续航时间短，巡检距离和通信距离受限等。 相比之下，输电线路机器人虽然巡检速度不及直升机和无人机，但是可以长时间在线巡检、多次重复巡检，近距离巡检效果好，自动化程度高，且能适应跨越大范围林区、大面积水域及其他复杂地理环境和交叉跨越环境，具有全自主巡检、无巡检盲区、巡检周期短、巡检费用低等显著优势，是输电线路智能巡检技术的重要发展方向。 变电站巡检方面，随着电网规模增加和智能化程度提高，变电站运行控制和管理逐步向集约管控和智能化方向发展，智能变电站、无人值守变电站越来越多。调控部门可以运用多种自动化设备对无人变电站进行遥信、遥测、遥控和遥调，基本实现了变电主设备运行监视和远程操作。显然，基于人工巡检的变电站一次设备运维模式已不能适应变电站集控管理和智能运维需求，在巡检效率、巡检频次、重要设备重点监控方面提升空间较小，不能保证大量新投产变电站新技术、新设备及新环境的巡检新需求。 相对于输变电设备人工巡检和直升机、无人机巡检，机器人巡检提供了一种新的巡检模式，与其他巡检模式具有互补性，并且智能化程度、经济性、安全性和系统可靠性均较好。随着人工智能和机器人技术的发展，机器人智能巡检技术必将在电网输变电设备巡检领域得到快速和广泛的应用。 目前，变电站机器人已在我国电网得到规模应用，但应用效果和作用有待提高，需要进一步积累机器人运行和巡检经验；架空输电线路和电缆隧道机器人已在电网实现初步应用，但尚未开展规模化巡检。总体上来说，一些实用化巡检技术制约着电力巡检机器人的推广应用，急需要进行重点突破，如输电线路机器人全程全自主巡检技术、自动上下线技术、复杂环境下长期在线运行技术、机器人档中故障带电救援技术，以及输电线路和变电站机器人多传感器融合检测和智能诊断技术等。 针对上述存在的电力机器人实用化巡检问题，2013年以来，广东电网公司电力科学研究院联合国内相关高校和研发单位，连续开展了输电线路和变电站机器人智能巡检实用化技术研究和应用，系统研发了架空输电线路机器人全程全自主巡检技术，实现机器人巡检作业自主定位、自主巡检、自主越障、自主运行、自主交互及自主故障检测与复位，机器人在通信中断和完全失去监控条件下可在线路上长时间安全运行；研发了穿越式、跨越式两种越障形式的架空线路巡检机器人，首次实现基于可见光和红外（或激光）检测的多任务载荷集成应用，首次实现机器人自动上下线巡检作业，建立输电线路机器人巡检作业模式和档中故障紧急救援模式，完成了机器人行驶路径和配套金具开发；研发了变电站机器人巡检系统，基于四轮独立驱动、柔性匹配控制和无轨组合导航、立体视觉辅助定位等技术优化机器人运动、操控和定位性能，基于可见光模式识别、仪表定位和红外、音频检测技术实现设备缺陷和异常状态的诊断告警；与国内相关单位一起，建立了输电线路和变电站机器人巡检系统产品技术条件和巡检技术规范，为机器人智能巡检推广应用奠定了基础。 本书瞄准我国电网转型升级和智能运维技术需求，针对人工巡检和直升机、无人机巡检存在的局限性，基于解决现有电力机器人巡检实用化问题，全面著述了输变电设备机器人智能巡检技术、巡检系统和巡检技术规范，在此基础上介绍了开展输电线路和变电站机器人全自主巡检应用的情况。希望本书工作及内容对推动我国电网机器人智能巡检技术研究和应用、提高我国电网输变电设备安全运行水平具有一定的借鉴作用。 王柯、钱金菊、易琳、樊飞、岳卫兵等同志在编写本书的过程中提供了热情的帮助和支持，在此一并致以衷心的感谢。 本书可供从事电力系统输变电设备运行维护、人工智能及机器人研发和试验检测领域工程技术人员，以及相关科研院所、生产制造单位的专业技术人员和管理人员使用，也可作为高等学校相关专业学生的参考用书。 由于编者的水平、时间以及本书的篇幅有限，书中难免存在疏漏和不足之处，恳请读者批评指正。 编 者 2019年2月