On April 12, one MD500 helicopter smoothly hovered by the side of the middle phase conductor of one circuit of Shuangyu 500-kV line which was operating in
As a power infrastructure directly facing power users, transmission line is the direct power source of end users. Therefore, the normal operation of transmission line is a key link to ensure high-quality power supply ...As a power infrastructure directly facing power users, transmission line is the direct power source of end users. Therefore, the normal operation of transmission line is a key link to ensure high-quality power supply service. Due to the wide range of transmission line erection, the erection site is mainly in urban areas with complex environment, and the insulation level is lower than the transmission network, resulting in high failure rate, heavy maintenance workload and more power outages caused by maintenance. In order to ensure the reliability demand of users, improve the satisfaction of users, and reduce the power failure caused by maintenance and fault, live working technology is proposed and applied to practical production. Live working is a kind of operation mode for inspection and maintenance under the condition of keeping all equipment of power grid without power failure. At present, most of the maintenance work and accident handling work in the transmission line can be completed under the condition of live operation. Therefore, the implementation of live operation can significantly reduce the power outage duration and power outage times of users and improve the reliability of power supply.展开更多
Once the UHV power grid is put into operation, it is difficult to propose outage maintenance to eliminate defects. Therefore, live-line operation has become the main technical means to eliminate defects of UHV lines. ...Once the UHV power grid is put into operation, it is difficult to propose outage maintenance to eliminate defects. Therefore, live-line operation has become the main technical means to eliminate defects of UHV lines. For live-line operation of transmission lines in remote and complex terrain, helicopter live-line operation has the advantages of strong adaptability and high efficiency. In this paper, the basic characteristics of UHV transmission system are simply analyzed, the cutting-edge live-line operation technology of UHV transmission lines is discussed, and the helicopter live-line operation technology is emphatically introduced. The feasibility demonstration of helicopter sling technology in live-line operation of ±1100kV UHVDC transmission lines is also studied.展开更多
Given the complexity of live working environments in power distribution networks,where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency,the Bidirectional Node-C...Given the complexity of live working environments in power distribution networks,where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency,the Bidirectional Node-Controlled Rapidly Exploring Random Tree(BNC-RRT)algorithm is proposed.This algorithm guides path search by progressively altering the sampling area and employs a node control mechanism to constrain the random tree expansion and extract effective boundary points.This approach reduces the number of ineffective nodes and collision checks during the search process,thereby enhancing path planning efficiency.Comparative simulation experiments conducted in various scenarios demonstrate that this algorithm reduces the number of path nodes and improves planning efficiency compared to classical algorithms.Finally,real-world experiments on a live working robot developed by our team show that the proposed algorithm shortens the average path length by 8.6%,and reduces the average planning and movement times by 44.7%and 28.7%,respectively,compared to classical path planning algorithms.These results indicate that the algorithm effectively improves path planning efficiency and is suitable for live working tasks in the power distribution industry.展开更多
Given the complexity of live working environments in power distribution networks,where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency,the Bidirectional Node-C...Given the complexity of live working environments in power distribution networks,where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency,the Bidirectional Node-Controlled Rapidly Exploring Random Tree(BNC-RRT)algorithm is proposed.This algorithm guides path search by progressively altering the sampling area and employs a node control mechanism to constrain the random tree expansion and extract effective boundary points.This approach reduces the number of ineffective nodes and collision checks during the search process,thereby enhancing path planning efficiency.Comparative simulation experiments conducted in various scenarios demonstrate that this algorithm re-duces the number of path nodes and improves planning efficiency compared to classical algorithms.Finally,real-world ex-periments on a live working robot developed by our team show that the proposed algorithm shortens the average path length by 8.6%,and reduces the average planning and movement times by 44.7%and 28.7%,respectively,compared to classical path planning algorithms.These results indicate that the algorithm effectively improves path planning efficiency and is suitable for live working tasks in the power distribution industry.展开更多
文摘On April 12, one MD500 helicopter smoothly hovered by the side of the middle phase conductor of one circuit of Shuangyu 500-kV line which was operating in
文摘As a power infrastructure directly facing power users, transmission line is the direct power source of end users. Therefore, the normal operation of transmission line is a key link to ensure high-quality power supply service. Due to the wide range of transmission line erection, the erection site is mainly in urban areas with complex environment, and the insulation level is lower than the transmission network, resulting in high failure rate, heavy maintenance workload and more power outages caused by maintenance. In order to ensure the reliability demand of users, improve the satisfaction of users, and reduce the power failure caused by maintenance and fault, live working technology is proposed and applied to practical production. Live working is a kind of operation mode for inspection and maintenance under the condition of keeping all equipment of power grid without power failure. At present, most of the maintenance work and accident handling work in the transmission line can be completed under the condition of live operation. Therefore, the implementation of live operation can significantly reduce the power outage duration and power outage times of users and improve the reliability of power supply.
文摘Once the UHV power grid is put into operation, it is difficult to propose outage maintenance to eliminate defects. Therefore, live-line operation has become the main technical means to eliminate defects of UHV lines. For live-line operation of transmission lines in remote and complex terrain, helicopter live-line operation has the advantages of strong adaptability and high efficiency. In this paper, the basic characteristics of UHV transmission system are simply analyzed, the cutting-edge live-line operation technology of UHV transmission lines is discussed, and the helicopter live-line operation technology is emphatically introduced. The feasibility demonstration of helicopter sling technology in live-line operation of ±1100kV UHVDC transmission lines is also studied.
基金supported in part by the National Key Research and Development Program of China(Grant No.2022YFB4703600)the Shandong Province Enterprise Innovation Capacity Improvement Project(Grant No.2023TSGC0442).
文摘Given the complexity of live working environments in power distribution networks,where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency,the Bidirectional Node-Controlled Rapidly Exploring Random Tree(BNC-RRT)algorithm is proposed.This algorithm guides path search by progressively altering the sampling area and employs a node control mechanism to constrain the random tree expansion and extract effective boundary points.This approach reduces the number of ineffective nodes and collision checks during the search process,thereby enhancing path planning efficiency.Comparative simulation experiments conducted in various scenarios demonstrate that this algorithm reduces the number of path nodes and improves planning efficiency compared to classical algorithms.Finally,real-world experiments on a live working robot developed by our team show that the proposed algorithm shortens the average path length by 8.6%,and reduces the average planning and movement times by 44.7%and 28.7%,respectively,compared to classical path planning algorithms.These results indicate that the algorithm effectively improves path planning efficiency and is suitable for live working tasks in the power distribution industry.
基金National Key Research and Development Programme of China,Grant/Award Numbers:2022YFB4703600Shandong Province Enterprise Innovation Capacity Improvement Project,Grant/Award Numbers:2023TSGC0442.
文摘Given the complexity of live working environments in power distribution networks,where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency,the Bidirectional Node-Controlled Rapidly Exploring Random Tree(BNC-RRT)algorithm is proposed.This algorithm guides path search by progressively altering the sampling area and employs a node control mechanism to constrain the random tree expansion and extract effective boundary points.This approach reduces the number of ineffective nodes and collision checks during the search process,thereby enhancing path planning efficiency.Comparative simulation experiments conducted in various scenarios demonstrate that this algorithm re-duces the number of path nodes and improves planning efficiency compared to classical algorithms.Finally,real-world ex-periments on a live working robot developed by our team show that the proposed algorithm shortens the average path length by 8.6%,and reduces the average planning and movement times by 44.7%and 28.7%,respectively,compared to classical path planning algorithms.These results indicate that the algorithm effectively improves path planning efficiency and is suitable for live working tasks in the power distribution industry.
