Research On The Substation Settled Pathway Autonomous Patrol Robot System

Substation patrol is an important assurance for safe operation of the power system. Up to now, unattended substation mainly relies on manual drive to scout the real-time status of the substation. However, the increasing numbers of 220 kv and below unattended substations operating in this mode make it need a lot of manpower as well as poor economic performance. With intensive progress in robot technology, automatic measurement technology, data processing technology and communication technology, it is a tendency to patrol the substation by using an autonomous robot. Thus, this paper proposes a settled pathway autonomous patrol robot system of the substation to make a deep study of this technology.Based on the analysis of the basic tasks and functional requirements of the substation patrol robot, a new settled pathway autonomous patrol robot system of the substation is proposed and implemented in this thesis, including the autonomous robot, the settled pathway system, the space of robot, the communication system, the remote monitoring terminal system and self-charging facilities, etc. Moreover, this paper gives a detailed introduction of system structure, working mode, the robot mechanical structure, the robot appearance, the settled pathway system and the space of robot, etc.Then, this paper makes a comprehensive and in-depth research about the control method and implementation technology of the motion platform of robot. A new tracking and locating method based on intermittent sheet metal pathway and inductance sensor array is proposed. Meanwhile, the motion platform control system based on MAS is designed and implemented. Moreover, remote monitoring terminal software of the motion platform is developed as well. The designed control system contains automatic control functions of start-stop, gears, brakes, throttle and steering, etc. Through the two coordinate independent wireless channels, the robot motion control platform communicates with the remote monitoring terminal in real-time, enabling the remote monitoring terminal send reliable control commands and obtain accurate running status of the robot in time.Furthermore, this paper studies the multimedia monitoring system and its implementation technology of settled pathway autonomous patrol robot system of the substation. Based on the illustration of the system construction of multimedia monitoring platform, this paper gives a detailed introduction of the technical scheme and the specific hardware and software implementation technology of image monitoring system and audio monitoring system.Finally, this paper designs the power system of the robot, and makes an in-depth research about its self-charging issues. The lead-acid battery is selected for its power supply with multiple DC/DC converters for voltage conversion. In addition, the power system is equipped with functions of battery remaining power detection, low battery alarm and battery short circuit protection. Through the analysis of the plug and pull out the power, this paper proposes a method by using the comb manipulator to grab the attaching plug and docking the insert and pull out power automatically.Field tests shows that the settled pathway autonomous patrol robot system of the substation achieves the desired goal, and it gains a good performance.