Design And Implementation Of A Substation Inspection Robot

As a specialized robot,the substation inspection robot can locate and navigate autonomously in the substation,and are substituted for substation staff to detect equipment fault,record instrument data and so on.Because of its application prospects in reducing the intensity of human work,ensuring the stable operation of the substation equipment and improving the intelligent level of the substation,it has been a research hotspot at present,and some achievements have been run in the domestic substation.To improve its reliability,accuracy,intelligence and friendly human-computer interaction is the main research direction of the substation inspection robot.First of all,the overall plan is determined ofter identifying the relevant standards and the existing substation inspection robot at home and abroad.The location and navigation system based on laser radar is adopted to reduce the workload and cost of robot when deploying,and improve the flexibility of inspection system.We use the visible high-definition camera and thermal imaging high-definition camera based on network to achieve reliable integration and fault detection in the local monitor.The local monitor uses B/S architecture,so that staff can use any computer to patrol tasks and manage robots.In order to realize the autonomous location and navigation of inspection robot in substation,we designed the motion planning layer software for robot.Based on GMapping algorithm,2D grid-based map is built in substation environment,and then a topological graph for inspection is built based on inspection task and feasible path.Based on grid-based map,we use AMCL(Adaptive Monte Carlo localization)algorithm to locate.We plan an optimal path according to the inspection task points based on the topology map,.Finally,we design the navigation algorithm to guide the robot with a point-to-point linear navigation.We design the functional layer software for the robot according to the inspection and human-machine interaction of the local monitor.In order to avoid potential conflicts between modules,the work of the robot is divided into five working modes,such as map building,deployment,inspection,automatic charging and manual operation,and a free mode.all functions are completed by modular software design.After debugging and testing in the substation,the software system works normally,and can accomplish all the established functions.The positioning accuracy of the robot is up to ±2.5cm,and the location accuracy in the charging room reaches to ±1cm.The path following can satisfy the daily inspection task request,and the automatic charging function can complete the accurate and independent pile in the charging room.The network communication system can satisfy robot command data and video data transmission requirements.The test results show that the designed inspection robot can meet the autonomous inspection requirements in substation.