Dynamic model based energy consumption optimal motion planning for high-voltage transmission line mobile robot manipulator

Abstract

Power transmission line live working robots are important equipment and useful exploration to ensure the reliable operation of high-voltage lines and they are the development trend to realizing intelligent automation power system operation and maintenance management. At present, most robots adapt lithium battery power supply and can be hoisted on line. The robot online endurance operation time is closely related to the system energy consumption. When the robot electricity of battery is insufficient, it needs to be charged offline. In order to reduce the frequency of robot hoisted on and off line as much as possible and improve the robot battery life time after it has been online, this has become a key technology which needs to be solved urgently. It is of great theoretical significance and practical application value to promote the robot overall operation efficiency. Based on the above, this paper establishes double different types manipulator energy consumption models for high-voltage transmission line damper replacement operation and drainage plate maintenance operation, through analysis and synthesis, a general energy consumption model for different tasks have been abstracted and an objective function for optimizing the robot manipulator motion energy consumption have been constructed based on the robot dynamics, thereby, GA(genetic algorithm) has been adapted, through selecting appropriate algorithm parameters, the optimal manipulator energy consumption has been solved and then it can be substituted back to the manipulator energy consumption model so as to obtain the optimal joint energy consumption motion function, based on the optimal energy consumption results, the optimal robot energy consumption motion planning has been carried out, according to the MATLAB simulation results, the energy consumption of the optimized trajectory is significantly lower than before, which can effectively reduce the frequency the robot hoisted online and offline, so as to improve the robot operation overall efficiency, at the same time, the optimal energy consumption trajectory planning method has strong versatility for different operation tasks. Finally, based on the optimal energy consumption trajectory planning, the robot drainage board tightening and damper replacement operation experiments on 220 kV power lines which verified the effectiveness and engineering practicability of the proposed method.

Working Condition Monitoring System of Substation Robot Based on Video Monitoring

“…It can be divided into outdoor wheeled robot, indoor rail lifting robot, and indoor two-dimensional code positioning robot. The earliest electric power inspection robot was applied to high-voltage transmission lines, equipped with a special camera, which reduced the workload of line inspectors [13,14]. Using unmanned helicopter as inspection robot can realize inspection of high-voltage transmission lines and other equipment in substations.…”

Power quality and energy consumption prediction model of transmission line based on grey multiple linear regression

“…It can be seen from the analysis of Figure 1 that the predicted energy consumption curve obtained by using the built model is consistent with the actual energy consumption curve. It indicates that the predicted result of the proposed method is close to the actual energy consumption, the predicted result obtained by using the model in [4] is lower than the actual energy consumption, and the predicted result obtained by using the model in [5] is higher than the actual energy consumption.…”

“…One day is selected in summer and winter respectively. The proposed model, the models in [4] and [5] are used to predict the power quality energy consumption, and the prediction results are compared with the actual energy consumption to test the prediction accuracy of the above three models. The test results are shown in Figure 1.…”

“…In [4], researchers proposed a dynamic model-based energy consumption prediction model for the high-voltage transmission line mobile robot manipulator, established two different types of manipulator energy consumption models for the high-voltage transmission line damper replacement operation and drain plate maintenance operation, and abstracted the general energy consumption models for different tasks. Besides, based on the robot dynamics, these scholars also constructed an objective function for optimizing the robot manipulator motion energy consumption and solved the optimal manipulator energy consumption.…”

Research on the design of high-voltage transmission line monitoring based on self-grouping MAC access

“…Combined with the wire temperature data, the theoretical load flow of the high-voltage transmission line wire is calculated, and the current wire load is judged according to certain criteria, so as to achieve effective monitoring of the transmission line, the specific implementation process is shown below [9][10][11][12][13] .…”