Research on pose adaptive correction method of indoor rail mounted inspection robot in GIS Substation

Energy Reports

卷:8

YunHua Liang¹  Yu Yan²  Biao Wang²  YiSheng Yu³  Yi Xiao³ 

[1] Corresponding author.;

[2] Substation intelligent operation and inspection laboratory of State Grid Hunan Electric Power Co., Ltd;

[3] State Grid of Hunan Electric Power Company Maintenance Company, Changsha 410004, China;

关键词: Orbital robot;    GIS Substation;    Intelligent inspection;    Adaptive control;    Position adjustment;   

DOI  :  

来源: DOAJ

【 摘 要 】

This paper presents a multi degree of freedom rail mounted inspection robot in GIS Substation and its adaptive pose adjustment method. According to the operation requirements of GIS indoor inspection robot, the functional models of robot walking module, lifting module, execution monitoring module and intelligent control module are established. The robot has the functions of image, sound and infrared acquisition. Combined with the pose adjustment of the camera at the end of the robot, it can accurately collect most of the equipment instrument data with different pose, and provide data sample support for analyzing and judging whether the equipment has abnormal conditions. The experimental results show that the rail hanging multi degree of freedom inspection robot can successfully overcome the complex equipment structure and move the end effector to the appropriate inspection point. After being adjusted by its adaptive pose adjustment method, the distance between the camera and the dial plane is within the interval [13 cm, 18 cm], and the included angle between the camera lens and the instrument plane is within the interval [2o,7o], both of which can meet the requirements of meter reading accuracy in indoor patrol inspection of substation. Compared with manual inspection, the inspection time of the inspection robot proposed in this paper is reduced by more than 75%, and can meet the 24-hour uninterrupted regular inspection. It is of great significance to ensure the safe and stable operation of substation, reduce inspection error, reduce labor cost, and realize the remote, intelligent and standardized inspection of GIS Substation.

【 授权许可】

Unknown