| The substations are the core hubs of the power grid and their equipment patrol and inspection are the key technical means to ensure the safe operation of the power grid.Using robots to replace manual patrols can significantly reduce the labor intensity,improve the quality of patrol analysis and prevent accidents.In this way,it can realize the automatic inspection,detection and early warning analysis of substation equipment status.Due to the differences in the specifications of various domestic substations and the complexity of the working condition,how to realize the arrangement and autonomous planning of the working route,the collection of the operating conditions,the automatic recognition of the status based on the intelligent analysis algorithm,the detection and self-diagnosis of the robot’s own status,the stable transmission of the collected data and the analysis of the results and so on become the key to the reasonable design of the substation inspection robot.The main contents of this thesis can be summarized as: path planning and picture recognition of substation inspection robots,hardware structure and module design,supporting software,applications and improvements of substation intelligent inspection robots.First,based on the literature review,this thesis introduces the current situation of the domestic and international research and application of substation intelligent inspection robot,analyzes the main functional requirements,builds the system architecture,the implementation scheme of key technologies and the design of software and hardware,and proposes the overall design of the robot.Second,on the basis of the overall requirements and design of the inspection robot,the robot is modularized disassembled and analyzed,and the system structure,model selection and functions of the robot are expounded.Finally,this thesis introduces the robot’s operating system,and the performance and functions of the robot are verified.Besides,the solutions to the problems encountered in the application are proposed. |
