DCBot: An autonomous hot-line working robot for 110 kV substation

摘要

This paper presents the design of DCBot, a hot-line working robot that can replace workers to assemble and disassemble the connect fittings of the disconnecting circuit breaker (DCB) in 110 kV substations without needing to be powered off. Robotic assembly in electrical substations requires a robot system with high flexibility and the capability to deal with uncertainties. A robust mobile manipulation system is a new and promising technology that could overcome these challenges. The highlights of our work include (1) a reference for designing hot-line working robots, which can not only guarantee the electrical safety clearance but also minimize the robots' influence on the electric field; (2) an electromagnetic shielding method applicable to the electrical components on the equipotential operation platform; (3) a method for precise outdoor visual positioning for objects with worn surfaces in outdoor environments; (4) a control strategy for hole-searching on complex contact surfaces during the assembly of connect fittings; and (5) a method of planning the safe working space of the hot-line working robot. The experiments and the field tests carried out in 110 kV energized substation environments show that the electrical safety of the substation was guaranteed during the whole process of operation. The success rate of 3 times assembly and 3 times disassembly is 100%. (C) 2019 Elsevier B.V. All rights reserved.