变电站无人机带电绝缘子清洗及喷涂室温硫化硅橡胶的智能系统设计与验证

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摘要针对变电站强电磁干扰与设备密集环境下传统带电作业效率低、风险高的问题,本文提出集成动态安全建模、喷涂装置与双人协同控制技术的无人机智能作业系统。构建电场-磁场联合约束动态安全距离模型S=max(0.00127E, 0.00125B),较传统静态模型降低碰撞风险37.4% （p<0.001。设计轻量化碳纤维折叠式喷涂杆（伸展范围0.3~0.55 m）与双模式矢量喷头,在0.5 m设备间隙内避障成功率达96.3%。开发基于5G超可靠低时延通信（URLLC）的双人协同系统,单次作业时间压缩至28 min内,效率较人工作业提升52.2%。现场实验表明,系统在220 kV变电站实现了带电绝缘子清洗及喷涂室温硫化硅橡胶（RTV）全流程闭环控制,为电网智能运维工作提供了标准化方案。

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	张俊康
	王辉煌
	陈伟凡
	陈炜彬
	陈诗灿

关键词 ：无人机（UAV）带电绝缘子作业, 变电站, 动态安全距离模型, 喷涂装置, 协同控制

Abstract：Aiming at the low efficiency and high risk of traditional live work under strong electromagnetic interference and dense equipment in substations, this study proposes an intelligent unmanned aerial vehicle (UAV) operation system integrating dynamic safety modeling, spraying device, and dual-operator collaborative control technology. An electric-magnetic field joint-constrained dynamic safety distance model S=max(0.00127E, 0.00125B) is constructed, reducing the collision risk by 37.4% compared with the traditional static model (p<0.001. A lightweight carbon fiber folding spraying rod (extension range: 0.3~0.55 m) and dual-mode vector nozzle are designed, achieving a 96.3% obstacle avoidance success rate within a 0.5 m equipment gap. A 5G ultra reliable & low latency communication (URLLC)-based dual-operator collaborative system is developed, compressing the single operation time to within 28 minutes and improving efficiency by 52.2% compared with manual work. Field experiments show that the system realizes full-process closed-loop control of live insulator cleaning and room temperature vulcanizing silicone rubber (RTV) spraying in 220 kV substations, providing a standardized solution for intelligent operation and maintenance of power grids.

Key words： unmanned aerial vehicle (UAV) live insulator operation substation dynamic safety distance model spraying device collaborative control

收稿日期: 2025-06-16

基金资助:国网泉州供电公司揭榜挂帅项目“基于小型化无人机的变电站绝缘子清洗及喷涂PRTV装置的研制”（B31330240008）

作者简介: 张俊康（1977—）,男,福建省泉州市晋江市人,本科,高级工程师,主要从事变电运检管理工作。

引用本文:

张俊康, 王辉煌, 陈伟凡, 陈炜彬, 陈诗灿. 变电站无人机带电绝缘子清洗及喷涂室温硫化硅橡胶的智能系统设计与验证[J]. 电气技术, 2026, 27(1): 73-79. ZHANG Junkang, WANG Huihuang, CHEN Weifan, CHEN Weibin, CHEN Shican. Design and verification of intelligent system for live insulator cleaning and room temperature vulcanizing silicone rubber spraying by unmanned aerial vehicle in substation. Electrical Engineering, 2026, 27(1): 73-79.

链接本文:

https://dqjs.cesmedia.cn/CN/Y2026/V27/I1/73

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