Research on key technologies of multi-task-oriented live maintenance robots for Ultra High Voltage multi-split transmission lines

Jiang, Wei; Zou, Dehua; Zhou, Xiao; Zuo, Gan; Ye, Gao Cheng; Li, Hong Jun

doi:10.1108/ir-03-2020-0066

Cited by 14 publications

(8 citation statements)

References 20 publications

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“…Te motion mechanism of the line patrol robot is afected by factors such as motor load change, connector clearance, mechanism wear, and external interference. Its motion mechanism parameters may change at any time, and the whole system has a certain time variability [23,24].…”

Section: Fuzzy Pid Controlmentioning

confidence: 99%

Transmission Line Condition Monitoring Method Based on Binocular Vision and Edge Computing for Line Changing Robot

Duan

Chen

et al. 2023

Journal of Robotics

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Efficient and accurate state detection of transmission cables is an important means to ensure reliable transmission. Aiming to realize fast and efficient transmission cable state analysis with the help of a binocular vision tool on a loop dismantling robot, this paper proposes a transmission cable state recognition method combining motion control and image segmentation technology. In this method, the fuzzy P I D control method is adopted to ensure that the wire removal robot can realize high-precision and rapid response control and effectively improve the collection quality of the cable image sample set. Meanwhile, aiming to achieve faster and more efficient data acquisition and state analysis, the state analysis model is sunk to the edge side, and the cable state detection and recognition model is constructed based on the fast RCNN model at the edge of the network to realize the in-depth extraction of feature information, enhance the transmission cable state recognition effect of the state detection model, and improve the response analysis speed of the model. The simulation results show that the accuracy of the proposed method is 97.54%, and its calculation time is 1.034 s, which can effectively realize the analysis and research of transmission cable state under complex working conditions.

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Section: Fuzzy Pid Controlmentioning

confidence: 99%

Transmission Line Condition Monitoring Method Based on Binocular Vision and Edge Computing for Line Changing Robot

Duan

Chen

et al. 2023

Journal of Robotics

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“…Based on a systematic review of relevant literature and a deep understanding of the connotation of w-e-fnexus, this essay takes a province as the research area for empirical research. First of all, by constructing the w-e-f system evaluation index system, using the comprehensive evaluation index and the coupling coordination model, the w-e-f system evaluation index and the coupling co scheduling of the whole province and various cities from 2008 to 2018 were calculated, the characteristics of their spatial and temporal differences were analyzed, and the system correlation effect was explored (Jiang et al, 2020). On this basis, the factor analysis method is used to explore the main influencing factors of the change of w-e-f coordination level, and the driving mechanism is analyzed from the dimensions of supply-demand relationship, resource consumption structure and sustainability.…”

Section: Literature Reviewmentioning

confidence: 99%

Study on coupling coordination and collaborative optimization system of water-energy-grain

Ren

Pei

2022

Front. Ecol. Evol.

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In order to solve the problem that water resources in a certain province are relatively scarce and the spatial matching effect of resources is poor, which causes the w-e-f system to face the problem of trade-off, the water-energy-food coupling coordination and collaborative optimization system is proposed. By constructing the w-e-f multi-objective collaborative optimization model, the multi-objective optimization schemes under different weight scenarios are compared, and scenario 2 with better effect is selected as the best scheme for collaborative optimization. The results show that, on the basis of meeting the constraint conditions, by adjusting the crop planting structure and making efficient use of resource elements, the water resource consumption of major grain crops can be reduced by 7.3% and the total energy consumption can be reduced by 2.5% by 2030 compared with 2019.ConclusionThe system provides solutions to alleviate the pressure on water resources and ecological environment to a certain extent. Compared with the single objective optimization scheme, multi-objective optimization can effectively alleviate the trade-off conflict between w-e-f.

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“…As noted above, one can distinguish three main classes of robotic systems used in the inspection and maintenance of the electricity grid: (1) autonomous robots that are suspended from cable lines, (2) unmanned aerial vehicles and aerial manipulators carrying out inspection tasks, and (3) mobile manipulators and robotic cranes involved also in faults finding and repair in the power grid infrastructure. As far as the first class of robotic systems is concerned, that is robots suspended from cable lines, one can distinguish mainly two-arm and multiarm robots [47][48][49]. As far as the second class of robotic systems is concerned that is unmanned aerial vehicles and aerial manipulators one can distinguish mainly autonomous helicopters, tricopters, quadropters, hexacopters, and octocopters [50][51][52].…”

Section: Computation Of the Robotic System's Lagrangianmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

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The article proposes a nonlinear optimal (H-infinity) control approach for a type of underactuated power-line inspection robots. To implement this control scheme, the state-space model of the power-line inspection robots undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the controller an algebraic Riccati equation is solved at each time step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. The significance of the article’s results is outlined in the following: (i) the proposed control method is suitable for treating underactuated robotic systems and in general nonlinear dynamical systems with control inputs gain matrices which are in a nonquadratic form, (ii) by achieving stabilization of the power-line inspection robots in underactuation conditions the proposed control method ensures the reliable functioning of these robotic systems in the case of actuators’ failures or enables the complete removal of certain actuators and the reduction of the weight of these robotic systems, (iii) the proposed control method offers a solution to the nonlinear optimal control problem which is of proven global stability while also remaining computationally tractable, (iv) the proposed nonlinear optimal control method retains the advantages of linear optimal control that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs, and (v) by minimizing the amount of energy that is dispersed by the actuators of the power-line inspection robots the proposed control method improves the autonomy and operational capacity of such robotic systems.

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Research on key technologies of multi-task-oriented live maintenance robots for Ultra High Voltage multi-split transmission lines

Cited by 14 publications

References 20 publications

Transmission Line Condition Monitoring Method Based on Binocular Vision and Edge Computing for Line Changing Robot

Transmission Line Condition Monitoring Method Based on Binocular Vision and Edge Computing for Line Changing Robot

Study on coupling coordination and collaborative optimization system of water-energy-grain

A nonlinear optimal control approach for underactuated power-line inspection robots

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