KURNIAWAN, MUHAMAD CATUR (2024) RANCANG BANGUN PROTOTIPE ROBOT PEMBERSIH OTOMATIS STRING ISOLATOR PADA SALURAN UDARA (OVERHEAD LINE) DISTRIBUSI TENAGA LISTRIK BERBASIS ESP32. S1 thesis, Universitas Mercu Buana Jakarta.
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Abstract
The string insulator is a critical component in the power distribution system, and if left in an open space, the string insulator is susceptible to a decrease in insulation performance due to exposure to dust and dirt. This can result in current leakage and flashover. Therefore, periodic maintenance is required to minimize this. However, insulator maintenance is currently still done manually to clean it. In addition to being expensive, this method is potentially dangerous and inefficient, including the risk of industrial accidents. This research aims to develop a prototype of an insulator string automatic cleaning robot, which is designed to optimize the insulator maintenance process and can reduce the operating costs and risks associated with manual maintenance. The robot prototype is equipped with a ZH03A dust sensor to detect dust particles, a VL53L0X proximity sensor for navigation, and a cleaning brush to automatically clean the insulator blades. The robot prototype was tested using static and dynamic testing methods. The test results of the dust sensor and proximity sensor showed an average error value of 2.23% and 2.28%, respectively. The robot's travel time in one cleaning cycle is about 29.32 seconds, while the system response time to the dust sensor until the motor moves is about 2.47 seconds. Overall, this insulator string automatic cleaning robot prototype can operate as designed. This prototype is expected to increase the efficiency of string insulator maintenance and reduce the risk of industrial accidents. Keywords: ESP32, Automatic cleaning robot, String Isolator String Isolator merupakan komponen kritis dalam sistem penyaluran tenaga listrik, String Isolator yang berada pada ruang terbuka membuatnya rentan terhadap penurunan daya isolasi akibat paparan debu dan kotoran. Hal ini dapat mengakibatkan kebocoran arus dan loncatan bunga api (Flashover). Oleh sebab itu, diperlukan perawatan berkala untuk meminimalisir. Namun, perawatan isolator saat ini masih dilakukan secara manual untuk membersihkannya. Selain mahal, metode ini berpotensi bahaya serta tidak efisien, termasuk risiko kecelakaan kerja. Penelitian ini bertujuan mengembangkan prototipe robot pembersih otomatis string isolator yang dirancang untuk mengoptimalkan proses perawatan isolator, serta dapat mengurangi biaya operasional dan risiko yang terkait dengan perawatan secara manual. Prototipe robot dilengkapi dengan sensor debu ZH03A untuk mendeteksi partikel debu, sensor jarak VL53L0X untuk navigasi, dan sikat pembersih untuk membersihkan bilah isolator secara otomatis. Prototipe robot diuji dengan metode pengujian statis dan dinamis. Hasil pengujian sensor debu dan sensor jarak menunjukkan nilai rata-rata error masingmasing sebesar 2,23% dan 2,28%. Waktu tempuh robot dalam satu siklus pembersihan sekitar 29,32 detik, sementara respon sistem terhadap sensor debu hingga motor bergerak sekitar 2,47 detik. Secara keseluruhan, prototipe robot pembersih otomatis string isolator ini dapat berjalan sesuai rancangan. Prototipe ini diharapkan dapat meningkatkan efisiensi perawatan string isolator dan mengurangi risiko kecelakaan kerja. Kata Kunci : ESP32, Robot pembersih otomatis, String Isolator
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