Research On Key Technology Of Intelligent Patrol Car In Substation

With the continuous development of China’s power grid system, as well as the continuous adjustment of national energy strategy,ultra high voltage transmission equipment are being put into use in stages. In particular, UHV power transmission voltage has reached 800 KV DC, and1000 KV AC. In order to ensure the normal operation of transmission equipment, it is needed for people to carry out regular inspection of the substation in order to find out the possible problems in time. The inspection frequency greatly increased the workload of staff. But as the voltage is getting higher and higher, the safety of inspection person needs to get more protection, so the development of intelligent patrol car to replace the manual inspection is a significant project.At the present stage, many substation inspection vehicles have been put into use, but the inspection robot often need following operations to record and return data, for example, the transformer substation meter readings, infrared temperature data, etc. It is necessary to pass some complex road, which is a big challenge for the use of wheeled vehicles. For these deficiencies, we choose the crawler type patrol robot to deal with the complex terrain conditions and at the same time we join the wireless communication system, automatic inspection procedures, intelligent meter reading program, etc. The software system mainly contains the following sections:First of all, taking into account the requirements of stability of the automatic navigation, we use magnetic navigation system as the navigation system, by using PID and RFID technology, the robot can walk stably along the magnetic field; Secondly, we add the wireless communication module to the patrol car, through this module we can control the car easily by using a mobile phone or PC at 500 meters away. At the same time, we design a automatic cruise program for the car, so that the car can automatically go to a designated position without the control of people.Finally, the biggest innovation is that we can read the meter data automatically through the image processing technology and return to the host server.In the process of reading meter data, we adopt a series of basic pretreatment technology. At the same time we propose an image noise estimation algorithm based on DCT and compare with some classical noise estimation algorithms. Experiments show the method has a certain increase in stability and accuracy and make the instrument identification more accurate.In this paper we focus on the study of the software design of intelligent substation inspection car, we prove the reliability and feasibility of the software design through analysis and experiments. At the end, some shortcomings are analyzed, and we point out the future development trend and further research direction.