Development and implement of an inspection robot for power substation

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI:10.1109/IVS.2015.7225673

Haojie Zhang, Bo Su, Haiping Song, W. Xiong

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引用次数: 15

Abstract

Along with the development demand of intelligent power substation, mobile robot is implemented to serve power substations. The robot is equipped with inspecting sensors, such as CCD camera and thermal infrared imager which are together referred to as workload. These inspecting sensors are used to detect the environment parameters e.g. reading meter, measuring temperature etc., inside the substation. However, due to the strong electromagnetic interference inside substation, accurate localization of the workload and inspection robot is still a difficult problem to be solved. Existing methods solve the problem by paving magnetic strips or rail. However, in this way, the working area of the robot is limited by the paved infrastructures. In this paper, an inspection robot system is developed for working in substation. In the proposed system, the localization of the robot is realized using adaptive Monte-Carlo localization based on the known environment model. A visual servo system is designed to realize the high accuracy localization of the workload. The proposed robot system should guarantee to obtain fine inspecting results of equipments in substation.

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变电站巡检机器人的研制与实现

随着智能化变电站的发展需求，实现了移动机器人为变电站服务。机器人配备了检测传感器，如CCD相机和热红外成像仪，这些传感器统称为工作负载。这些检测传感器用于检测变电站内部的环境参数，如抄表、测温等。然而，由于变电站内部存在较强的电磁干扰，对工作量和巡检机器人的准确定位仍然是一个亟待解决的难题。现有的方法是通过铺设磁条或轨道来解决问题。然而，这样一来，机器人的工作区域受到铺设的基础设施的限制。本文研制了一种变电站巡检机器人系统。在该系统中，基于已知的环境模型，采用自适应蒙特卡罗定位方法实现机器人的定位。为实现工作负载的高精度定位，设计了视觉伺服系统。所提出的机器人系统应能保证对变电站设备进行良好的巡检。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2015 IEEE Intelligent Vehicles Symposium (IV)

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