Development Of Inspection Robot For 35KV Substation

Nowadays, most of the inspection robots are applied in the large substations with voltage level of 500 KV or above. The inspection robot's body and the remote controller are both located in the substation. The main function of the robot is to take the place of electric operators to do the daily inspection task. The 35KV substations'size is small, so the labor intensity of the inspection in 35KV substations isn't too high. But because of its scattered location, the personnel on duty need to drive or walk a long distance to many substations site to execute the inspection task. Therefore,35 KV substations urgently need a kind of inspection robot whose remote controller is in the power supply company, so that the personnel on duty can perform the remote inspection in the office of the power supply company.In this paper, we take a certain 35KV substation as the research object. According to its characteristics and the actual needs of its unattended operation, we developed a kind of inspection robot for the 35 KV substations. The robot's remote controller is in the power supply company. The robot's body which connects to the Internet by the 4G network works in the 35KV substation. The communication between the inspection robot and the remote controller uses the WCF framework. The dynamic DNS and the network address translator offered by the peanut shells software are used to realize the Internet communication. The inspection robot navigates by the magnetic track and located itself by the RFID tags. It can get the appearance image and the infrared image of the equipments in substation by the HD camera and the infrared imager. The remote controller can control the movement of the inspection robot and receive the real-time video sent by the robot. Then the controller diagnoses the abnormal appearance and abnormal temperature of the equipments in the substation by use the technology of image matching and optical character recognition. In addition, we develop a charging device whose socket is installed in the ground. The charging device makes up for the deficiency of low successful docking rate of the traditional charge device. The charging device combines the magnetic track navigation positioning and the mechanical correction to improve the success rate of the rechargeable docking, realize the automatic charging function of the inspection robot. In addition, the inspection robot for traditional charge agency docking biased is insufficient, this article also developed a farm plug-in charging device, the combination of magnetic track navigation positioning and mechanical correction to way to improve the success rate of the rechargeable docking,The inspection robot has been put into operation in a 35KV substation in Huainan City of Anhui Province. The result shows that the inspection robot has stable performance. It can execute the inspection task by magnetic track navigation and realize the automatic charging function. The remote controller can implement the inspection robot's movement control. The remote controller can also display and analysis the real-time video of the substation equipment image. When the equipment in substation has abnormal appearance or abnormal temperature, the remote controller can send alarm signals to the personnel on duty. The inspection robot adopts the Internet communication scheme, which makes the personnel on duty accomplish inspection tasks in the office at the power supply company. The inspection robot greatly reduces the number of on-site inspection by the personnel on duty, effectively reduces the labor intensity and improves their work efficiency. The inspection robot provides more reliable guarantee to the safe operation of substation equipment.