| Substation is the hub of the power grid. Regular inspection is very crucial in order toensure the electrical equipment in substation to operate normally. In recent years, alongwith the progress of science and technology and the deepening of the power system,reform, manual inspection is gradually replaced by inspection robot on substationinspection technology.With the detection and sensing device, such as infrared thermal imager, visible lightCCD and pickup, the intelligent patrol robot system for substation is on-site inspectionfor outdoor high-voltage equipment. The substation inspection can find the thermaldefect of power equipment, foreign body suspension and other anomalies timely with theindependent or remote control mode where is unattended or fewer people on duty.Thenautomatic alarm or preset fault handling will be given. The reliable navigation andpositioning is a key technique in substation to insure the robot working correctly.So it hasimportant practical significance to study the navigation method of patrol robot insubstation.Through the analysis of the existing substation inspection technology and theintroduction of machine vision and basic theory of artificial intelligence, this paper firstlydesigns the overall structure of the substation intelligent patrol robot.Then for theproblem of inspection robot，s navigation in unattended substation, a monocular visualnavigation scheme based on the guide line is introduced in this paper, which includes twoparts. A navigation algorithm based on prior template through detecting the edges of thetrajectory images is put forward. The algorithm is used to predict the direction ofmovement to control the robot through the analysis of four boundary information of theimages,edges. And do the statistics for the equipments need to be patrolled and then Idesign a code scheme using QR code bearing the information of the equipments thatmainly inspected in order to achieve the location that QR code aided. When newmonitoring area is added in the substation, we only need to change the QR code, whichavoids the complicated change of inspection strategy.The simulation results show that thenavigation results are satisfactory, simple and reliable, which greatly improves the pathrecognition speed. The scheme has the advantages of flexible portability. |
