The 110kV Live-Maintaining Robot Control System Design for Substation Equipment in Complex Working Conditions

Live-maintaining work is essential for continuous power supply to the substation. To improve the safety and efficiency of live-maintaining work, this paper proposes an equipotential live-maintaining robot system suitable for 110kV voltage levels. Considering the narrow space, complex working conditions and strong electromagnetic interference in substations, binocular vision technology, manipulator trajectory planning algorithm based on time-energy optimization, high voltage electromagnetic shielding technology are utilized to develop the system, and the live-maintaining robot is successfully applied in actual substation. By accurately identifying and locating the joint bolts and insulator, the robot system can achieve equipotential live-disassemble, live-assemble the joint bolts within 18 minutes and live-clean insulator within 5 minutes, demonstrating its the effectiveness and practicability.