Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745634
Li Li, Bin Zhang, Jinlong Zhao, Dong Li, Yong Li, Chao Zhang, Zheren Dai
This paper gives an instruction of the robotics applied for power industry in China. Firstly, it is the instruction of the actuality of the electric power industry in China. And we introduce the robotics applied in the field of the power generator, for different application requirements, include generator detection robot, robot in nuclear power station and for the hydropower station detection. Then robotics for overhead transmission line detection and maintenance was been shown. The substation patrol robotics has implemented widespread in most province electric power companies in China. Live working robot for the distributing line maintenance have been in some filed application. As the big market, more robots will applied for the electronic power industry, with the development of the robotics and the new work mode of people and robot.
{"title":"A state-of-the-art survey of the robotics applied for the power industry in China","authors":"Li Li, Bin Zhang, Jinlong Zhao, Dong Li, Yong Li, Chao Zhang, Zheren Dai","doi":"10.1109/CARPI.2016.7745634","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745634","url":null,"abstract":"This paper gives an instruction of the robotics applied for power industry in China. Firstly, it is the instruction of the actuality of the electric power industry in China. And we introduce the robotics applied in the field of the power generator, for different application requirements, include generator detection robot, robot in nuclear power station and for the hydropower station detection. Then robotics for overhead transmission line detection and maintenance was been shown. The substation patrol robotics has implemented widespread in most province electric power companies in China. Live working robot for the distributing line maintenance have been in some filed application. As the big market, more robots will applied for the electronic power industry, with the development of the robotics and the new work mode of people and robot.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"24 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120992886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745631
Zongyu Li, Shi-you Mu, Jianxiang Li, Wanguo Wang, Yue Liu
Under the background of the development of intelligent grid and the revolution of operating mode, including intensive management of human, financial, material resources and a system consisting of the implements of major plan, construction, operation, inspection and marketing, an intelligent inspection system based on GIS concentrated control, massive image recognition, defect diagnosis, centralized monitoring and distributed database cluster technology of UAV for the transmission lines is exploited, by facing the challenges and risks for the safe operation of the extra /ultra-high voltage transmission lines. In the power transmission line inspection application proves that it provides a new and efficient centralized control and data processing, enhance the coordination of UAV inspection unit with the ability and rational allocation of inspection resources security, and enhanced the information and automation of UAV inspection control of the whole process.
{"title":"Transmission line intelligent inspection central control and mass data processing system and application based on UAV","authors":"Zongyu Li, Shi-you Mu, Jianxiang Li, Wanguo Wang, Yue Liu","doi":"10.1109/CARPI.2016.7745631","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745631","url":null,"abstract":"Under the background of the development of intelligent grid and the revolution of operating mode, including intensive management of human, financial, material resources and a system consisting of the implements of major plan, construction, operation, inspection and marketing, an intelligent inspection system based on GIS concentrated control, massive image recognition, defect diagnosis, centralized monitoring and distributed database cluster technology of UAV for the transmission lines is exploited, by facing the challenges and risks for the safe operation of the extra /ultra-high voltage transmission lines. In the power transmission line inspection application proves that it provides a new and efficient centralized control and data processing, enhance the coordination of UAV inspection unit with the ability and rational allocation of inspection resources security, and enhanced the information and automation of UAV inspection control of the whole process.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133913968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper gives a brief introduction of the state of art of robotics standardization. Based on the analysis of the electric power industry and robotics technology, a vision for electric power robotics standardization is presented. And related fundamental standards and specific robotic standards are developed as a case study.
{"title":"A vision for electric power robotics standardization","authors":"R. Guo, Chao-Chao Li, Hongmei Li, Yong Li, Guanbin Wu, Jinlong Zhao","doi":"10.1109/CARPI.2016.7745655","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745655","url":null,"abstract":"This paper gives a brief introduction of the state of art of robotics standardization. Based on the analysis of the electric power industry and robotics technology, a vision for electric power robotics standardization is presented. And related fundamental standards and specific robotic standards are developed as a case study.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132830191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745651
Yongxing Hao, Haipeng Wang, Jinlong Zhao, Xing-zhao Wang, L. Juntao
Stable power supply is the basic guarantee of residents' life and social production, the number of substations is constantly increasing with the development of the power industry in recent years. Now most of the substation inspection robot is used in outdoor environments domestically and overseas. With visible light and infrared equipment the substation inspection robot can identify the operation of substation equipment, such as knife gate opening or closing, instrument disc reading, and so on. This technology is very mature by now, the recognition rate is more than 90%. But in the substation, there are many other equipment is required for daily inspection, such as IGS equipment and electrical cabinet etc. and the ordinary substation inspection robot cannot complete the above-mentioned detection task. So some special substation inspection robot which can be made to inspect the IGS equipment and electrical cabinet needs more and more urgently.
{"title":"Multifunctional electric detection charged manipulator","authors":"Yongxing Hao, Haipeng Wang, Jinlong Zhao, Xing-zhao Wang, L. Juntao","doi":"10.1109/CARPI.2016.7745651","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745651","url":null,"abstract":"Stable power supply is the basic guarantee of residents' life and social production, the number of substations is constantly increasing with the development of the power industry in recent years. Now most of the substation inspection robot is used in outdoor environments domestically and overseas. With visible light and infrared equipment the substation inspection robot can identify the operation of substation equipment, such as knife gate opening or closing, instrument disc reading, and so on. This technology is very mature by now, the recognition rate is more than 90%. But in the substation, there are many other equipment is required for daily inspection, such as IGS equipment and electrical cabinet etc. and the ordinary substation inspection robot cannot complete the above-mentioned detection task. So some special substation inspection robot which can be made to inspect the IGS equipment and electrical cabinet needs more and more urgently.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129258882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Based on the real-time image capturing and recognition, the robot is responsible to inspect the working status of various equipments in the smart substation. In this paper, an adapted efficient robotics visual servo algorithm is proposed in order to improve the accuracy of capturing the target images. When the robot captures image of the equipment, SIFT method is utilized to match with the template image to verify the captured image containing the region of interesting (ROI) or not. Once the ROI is part or entirety out of the real-time image, the PTZ is controlled to make up for the deficiency by calculating the offset pixels. Then the robot will capture more accurate target image. Farther more, a “high zoom ratio” visual servo solution is also figured out by this proposed algorithm. The experiment results proved that this algorithm improved the efficiency of image capture to the robot. And it is effective to save the computer resource to achieve long battery life when the robot is working the inspection missions. The application of this proposed algorithm will provide facilities for robot to realize 24 hour all-weather inspection in the substation.
{"title":"An adapted visual servo algorithm for substation equipment inspection robot","authors":"Hua Fang, Xiaoxiao Cui, Liangkun Cui, Yuanpei Chen","doi":"10.1109/CARPI.2016.7745620","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745620","url":null,"abstract":"Based on the real-time image capturing and recognition, the robot is responsible to inspect the working status of various equipments in the smart substation. In this paper, an adapted efficient robotics visual servo algorithm is proposed in order to improve the accuracy of capturing the target images. When the robot captures image of the equipment, SIFT method is utilized to match with the template image to verify the captured image containing the region of interesting (ROI) or not. Once the ROI is part or entirety out of the real-time image, the PTZ is controlled to make up for the deficiency by calculating the offset pixels. Then the robot will capture more accurate target image. Farther more, a “high zoom ratio” visual servo solution is also figured out by this proposed algorithm. The experiment results proved that this algorithm improved the efficiency of image capture to the robot. And it is effective to save the computer resource to achieve long battery life when the robot is working the inspection missions. The application of this proposed algorithm will provide facilities for robot to realize 24 hour all-weather inspection in the substation.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125582112","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Nowadays, more and more navigation systems based on the map of the environment have become mature enough to be used in practical application. Because the map is the basis of all these kind of systems, a 2D laser mapping system is designed to overcome some defects of the magnetic guide and RFID parking system used by the substation inspection robot now, and hoped to help the robot to fulfill the navigation tasks in the future application. The structure of the system is presents firstly, and then the algorithms for mapping are described in detail. Finally a prototype system is constructed, and an experimental test is carried out in a 500kV outdoor substation to verify the performance of the system. The experimental results show that the laser mapping system designed can build the map successfully, and the output map correctly represents the actual feature of the substation environment.
{"title":"Design of a 2D laser mapping system for substation inspection robot","authors":"Peng Xiao, Mengchao Fu, Haipeng Wang, Taiping Wang, Chao Zhang, Yongxi Li","doi":"10.1109/CARPI.2016.7745617","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745617","url":null,"abstract":"Nowadays, more and more navigation systems based on the map of the environment have become mature enough to be used in practical application. Because the map is the basis of all these kind of systems, a 2D laser mapping system is designed to overcome some defects of the magnetic guide and RFID parking system used by the substation inspection robot now, and hoped to help the robot to fulfill the navigation tasks in the future application. The structure of the system is presents firstly, and then the algorithms for mapping are described in detail. Finally a prototype system is constructed, and an experimental test is carried out in a 500kV outdoor substation to verify the performance of the system. The experimental results show that the laser mapping system designed can build the map successfully, and the output map correctly represents the actual feature of the substation environment.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"140 48","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120820359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745624
Xu Dong, Huaidong Lu, Yanliang Wang, Hui-Chen Pan, Shou-yin Lu
The size of the substation is constantly expanding with the development of electric power industry. The substation equipments which are long-term exposure to the outdoor affected by natural and industrial contamination are easily caused the flashover phenomenon. The substation equipment water washing robot with hot-line is used to water cleaning operations carried out on the post insulators in substation. Kinematics performance of the robot should not be ignored in order to make it moving freely in the substation and move to the job position safely and stably. Kinematics analysis and simulation of the substation equipment water washing robot with hot-line are conducted in the process of flat walking and climbing by using virtual prototype technology based on the method of multi-body kinematics and Lagrange multiplier. The changing curve of robot's gravity center under different road conditions and the motion state of the robot in the process of climbing are all obtained. Improvements and optimization have been done according to the calculation results.
{"title":"Kinematics analysis and simulation of the Substation Equipment Water Washing Robot with Hot-line","authors":"Xu Dong, Huaidong Lu, Yanliang Wang, Hui-Chen Pan, Shou-yin Lu","doi":"10.1109/CARPI.2016.7745624","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745624","url":null,"abstract":"The size of the substation is constantly expanding with the development of electric power industry. The substation equipments which are long-term exposure to the outdoor affected by natural and industrial contamination are easily caused the flashover phenomenon. The substation equipment water washing robot with hot-line is used to water cleaning operations carried out on the post insulators in substation. Kinematics performance of the robot should not be ignored in order to make it moving freely in the substation and move to the job position safely and stably. Kinematics analysis and simulation of the substation equipment water washing robot with hot-line are conducted in the process of flat walking and climbing by using virtual prototype technology based on the method of multi-body kinematics and Lagrange multiplier. The changing curve of robot's gravity center under different road conditions and the motion state of the robot in the process of climbing are all obtained. Improvements and optimization have been done according to the calculation results.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121288477","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745621
Cui Xiaoxiao, Fang Hua, Yang Guoqing, Zhou Hao, Deng Yan
A new method of digital number recognition for mechanical digital meters in substation is studied in this paper, which adopts linear SVM based on Histogram of Oriented Gradients (HOG) features. The grids of Histograms of Oriented Gradient descriptors significantly outperform for feature detection of the gray image which has more information than binary image. A new approach with segmentation of region of character image is proposed in this paper, which is important to the further HOG feature detection. SVM classifier is used in the recognition procession and result shows that HOG has better performance on digit classification in the substation inspection robot instrument recognition.
{"title":"A new method of digital number recognition for substation inspection robot","authors":"Cui Xiaoxiao, Fang Hua, Yang Guoqing, Zhou Hao, Deng Yan","doi":"10.1109/CARPI.2016.7745621","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745621","url":null,"abstract":"A new method of digital number recognition for mechanical digital meters in substation is studied in this paper, which adopts linear SVM based on Histogram of Oriented Gradients (HOG) features. The grids of Histograms of Oriented Gradient descriptors significantly outperform for feature detection of the gray image which has more information than binary image. A new approach with segmentation of region of character image is proposed in this paper, which is important to the further HOG feature detection. SVM classifier is used in the recognition procession and result shows that HOG has better performance on digit classification in the substation inspection robot instrument recognition.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131362357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745647
Wei Zhang, Juan Zhang, Bing Wang, Hemeng Yang, Chong Wang, Bai Yang
At present, the staff of power sector have to find out the tree barriers mainly by artificial means. This method consumes more manpower and material resources. For this shortage, an automatic method for tree barriers warning is proposed in this paper based on LiDAR. Obtain the classification information of transmission lines and other types of objects in the corridor. Then, simulate the conductor sag and windage yaw under the extreme weather conditions of corresponding line section. In order to improve calculative efficiency, the method clusters the points belonging to tree type into several groups based on DB-Scan. Finally, the early-warning is achieved by calculating the minimum distance between the wires and trees, combined with the tree growth cycle model. In this paper, the method is analyzed in experiments using several groups of data obtained by airborne LiDAR. The result shows that this method is effective to find out the potential danger points of the transmission lines, which will provide references for the activities of transmission line inspection.
{"title":"The research on early-warning methods of tree barriers of transmission lines based on LiDAR data","authors":"Wei Zhang, Juan Zhang, Bing Wang, Hemeng Yang, Chong Wang, Bai Yang","doi":"10.1109/CARPI.2016.7745647","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745647","url":null,"abstract":"At present, the staff of power sector have to find out the tree barriers mainly by artificial means. This method consumes more manpower and material resources. For this shortage, an automatic method for tree barriers warning is proposed in this paper based on LiDAR. Obtain the classification information of transmission lines and other types of objects in the corridor. Then, simulate the conductor sag and windage yaw under the extreme weather conditions of corresponding line section. In order to improve calculative efficiency, the method clusters the points belonging to tree type into several groups based on DB-Scan. Finally, the early-warning is achieved by calculating the minimum distance between the wires and trees, combined with the tree growth cycle model. In this paper, the method is analyzed in experiments using several groups of data obtained by airborne LiDAR. The result shows that this method is effective to find out the potential danger points of the transmission lines, which will provide references for the activities of transmission line inspection.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124900418","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745652
Yongxing Hao, Xu Dong, Jianxiang Li, Shi-you Mu, Xing-zhao Wang
Omni-directional wheeled motion system with its flexible steering, stable structure and reliable control precision, become the basis of the mobile robot system which used indoor. In this paper two kinds of Omni-directions platform which wheeled by three Mecanum wheels are built up, by setting up the dynamical simulations about the two model based in simulation software, and according to the dynamic simulation analysis, we try to find the affections of the platform motion caused by the drive force on Mecanum wheels, and choose the better model. All of the work will also make the basis for the control theory which is needed by the next step.
{"title":"Mecanum wheeled motion system with three wheels","authors":"Yongxing Hao, Xu Dong, Jianxiang Li, Shi-you Mu, Xing-zhao Wang","doi":"10.1109/CARPI.2016.7745652","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745652","url":null,"abstract":"Omni-directional wheeled motion system with its flexible steering, stable structure and reliable control precision, become the basis of the mobile robot system which used indoor. In this paper two kinds of Omni-directions platform which wheeled by three Mecanum wheels are built up, by setting up the dynamical simulations about the two model based in simulation software, and according to the dynamic simulation analysis, we try to find the affections of the platform motion caused by the drive force on Mecanum wheels, and choose the better model. All of the work will also make the basis for the control theory which is needed by the next step.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125377378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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