Research On Four-wheel Inspection Robot For Substation

Substations play an important role in the construction of power transmission and transformation.The stable and efficient operation of substations is an important guarantee for safe,efficient,stable and reliable power supply.Using inspection robots to replace manual inspection meets the requirements of unmanned,automated,and intelligent which substations need at this stage.The inspection robot can realize accurate,all-weather,high-frequency safe inspection of related equipment,and improve work efficiency while ensuring the quality of inspection.For substation inspection robots,autonomous positioning and navigation technology and image processing technology are the core technologies to ensure that inspection robots can complete inspection tasks smoothly and efficiently,and they have always been the key and focus of research.In view of these two aspects,this subject has studied the automatic positioning and navigation of the four-wheeled substation inspection robot and the automatic meter reading of the substation instruments based on the actual situation of substations.The main research contents of the subject are as follows:1.By consulting relevant literature,the development of substations have been analyzed and summarized.Related substations have been investigated,and integrate their trackless need,a integrated positioning and navigation method with QR code inspection tag assisted inertial navigation is proposed.According to the actual needs of the substation,the method digitizes the inspection area into an inspection map represented by a number of positioning points.Inertial navigation between positioning points and QR code inspection tags in the positioning points are used to assist positioning and navigation to realize the autonomous positioning and navigation of the inspection robot and the trackless need of the inspection area.The subject has carried out specific research and design for the construction of inspection map,inspection tags coding and positioning point deployment method.2.For the hardware system,a positioning and navigation experiment platform is designed.The experimental platform adopts omnidirectional wheel design,and the main control module adopts the design of dual STM32 control chips.The driving circuit of each sensor function module,communication module,remote control module,power conversion and management module,etc.are specially designed to realize the motion control of the robot.For the software system,the overall logic of the inspection robot’s integrated positioning and navigation method is designed,using the PID position and speed double closed-loop motor control method,and for the inspection robot’s remote communication,remote control,safety avoidance,battery monitoring and other functions.The program was designed.3.Aiming at the identification of smart meters in substations,the relevant substations were investigated.Instruments and equipment types which been commonly used in substations have been summarized and classified.For the most common 6L2 pointer instrument in the substation system,the dial and pointer are positioned,fitted and repaired first,and then the angle method is used for automatic meter reading.For digital display meters,an automatic meter reading method based on template matching digital tube digital display meters was adopted.For the handles of indoor switch cabinets in substations,a multi-objective automatic identification method of the handles of indoor switch cabinets is proposed,which uses the characteristics of the handles to complete the automatic identification function.At last,the method of using network cameras to monitor the temperature of substation equipment was introduced.At the same time,in order to facilitate the research and testing of the algorithm,the XL-21 standard power cabinet was used to build an image recognition test platform.4.The navigation algorithm is tested on the positioning and navigation experiment platform,and the image recognition algorithm is tested in the field of the substation,the key ROI recognition rate of the substation and the accuracy of automatic meter reading are evaluated.The test results meet the expected requirements.The designed experimental platform in this subject has a positioning accuracy of 10 cm for autonomous positioning and navigation,and a steering accuracy of less than 10?,which meets the design requirements.Through experiments and tests on a large number of sample images,the recognition rate of image recognition algorithms for various types of instruments has reached more than 90%.Through the research of this subject,it has certain significance for the realization of automatic inspection,intelligentization and tracklessness of substations at this stage.