Research And Implementation On The Key Technologies And System Of Substation Inspection Robot

As the rapidly development of robot technology, the application of substation inspection robot has been more and more popular. How to ensure the repeated positioning precision and accuracy of robots when inspected the substation has been become the hot issue that scholar of domestic and international expert cares stage by stage. Due to the particularity of substation environment, the robots need to utilize the Infrared Image Machine to gather the temperature information of specified devices and use the CCD Camera to recognize the device status of meters. In addition, the robots should be able to return the charging room automatically. All the data collected by robots during the inspection will be uploaded to back-end monitoring center for further utilization.Aiming at these problems above, the paper has been based on the infrared image technology with pattern recognition and matching to ensure the robot is capable of precisely locate and recognize target areas. And using the Mesh network to builds the communication channel between mobile station and back-end monitoring system. Based on the concise and friendly user interfaces and task scheduling systems, the flexibility and operability of robot inspection can be largely improved.The main contents of this paper are as follows:Firstly, the paper is analyzed the system composition of Substation Inspection Robot and the related research status. Then the paper has propose the system architecture, implementation solutions to key technologies and technical parameters according to the functional requirements, and designs the control principle diagram of our proposed system.Secondly, the paper introduces the three-dimensional modeling of the mechanical structure, hardware selection and its key technical parameters in details. Then the paper describes the control methods of some key components briefly. Then, the paper presents the modular design solution to substation inspection robot system, and describes the architecture of software system and the implementation of some key components. The design of the software system is based on C/S model. The paper also explains the robot mobile station, back-end monitoring system and pattern of behavior. The paper focused on the navigation and positioning system, automatic recognition of static target based on infrared image and auto-charging system of the substation inspection robot.Finally, the paper uses a series of system debugging and testing cases to verify the feasibility and reliability of our substation inspection robot. The results show that the substation inspection robot system can meet the design requirements and usage requirements.Currently, the substation inspection robot project has passed the approval procedure.