Research On Telerobot For Inspection Of Electric Power

In modern social life,electricity is highly related to industrial production and public life.Maintenance work for power grid has become an important means to guarantee the normal operation of substations and ensure the safety of power supply.However,due to the complicated geographical environment of substations,some of the substations are located in remote mountainous areas.It is difficult to meet the maintenance requirements of substations by relying solely on manpower operations.Therefore,the development of substation inspection robots can effectively improve work efficiency and ensure the safe production and supply of electricity by replacing manual operation.The dissertation starts from the existing research status of substation inspection robots.Considering robots' s degree of automation is not high and substitutability is not strong.Combined with teleoperating technology,a telerobot for inspection of electrical power has been studied and designed.The main content of this dissertation is listed as follows:Firstly,referring to the system structure of inspection robot and telerobot,the whole system of the telerobot for inspection of electrical power and the system modules have been designed due to its function.The system components have been studied respectively from the perspective of hardware and software.Considering telerobot's working environment,WLAN communication architecture has been used to build communication system.Communication system has been designed according to the characteristics of TCP protocol and UDP protocol.The validity of the proposed system is tested through physical experiments.Secondly,for the typical inspection function of pointer meter,an image processing method based on Hough transform has been proposed and developed.After image preprocessing,Hough transform is used to extract meter's pointer.According to the known geometric features of the dial and the position of the pointer,meter's reading result can be calculated.A case study is given to verify the effectiveness of proposed method.Thirdly,the teleoperational function of the system has been further studied.After building the 6-DOF robor arm,a space model is established for the joint structure of the manipulator based on the standard Denavit-Hartenberg matrix model.Kinematics and Inverse kinematics equations are used to establish the relationship between arm's attitudes and joint's angles,a case study has also been given to verify the control model.At last,a control mechanism of the robot arm is proposed,which combining the human control mechanism and visual servo control mechanism,which is based on the color recognition method.Finally,experimental research on the telerobot device has been carried out.An interactive interface of the whole system is developed.Through the interactive interface,functional physical experiments are carried on the self-developed robot mobile platform.The experiment results show that the robot runs smoothly and can accurately complete the inspection function.More tests of the teleoperation system are carried on the industrial robot mobile platform to verify the practicality and application prospects of the telerobot system.This dissertation can provide reference for the development of substation inspection robots,the reduction of maintenance work pressures,and the improvement of substation automation.