Research On Intelligent Inspecting Robot Moving Along Suspended Track

As the hub for transforming voltage and transmitting power in the power system,substation plays an important role.Substation equipment inspection is a basic work to ensure the safe of substations and improve the reliability of power supply.With the improvement of substation automation level and the unattended popularity,the reliability of substation equipment operation is facing more severe challenges and then substation inspection received more attention.At present,the most popular inspection mode in domestic substations is manual inspection.Due to the constraints of the labor intensity,responsibility business level and mental state of the inspectors,missed inspections and false inspections have occurred once in a while,which has caused massive economic losses every year.According to the incomplete statistical report of the power grid operation by the China Electric Power Research Institute in 2011,the economic losses caused by the missed inspection and misdetection of substation equipment has reached to 2.6 billion RMB per year.It can be seen that manual inspection has been unable to meet the requirements of safe operation in modern substation.The replacement of manual inspection by robots will be an inevitable trend with the development of IntelliGrid in the future.Substation intelligent inspection robot is mainly used for inspecting switchgear in interior substation,taking the place of staff member to inspect the substations.The inspection robot carries infrared thermal imager,CCD-camera,oxygen sensor and other devices,completing the patrol task of substation equipment independently or by remote control.After task,the inspection robot will analyze the data sets and determine whether it exists hidden danger and faults or not,which can greatly improve the reliability and safety of substation operation.After extensive research,this project selects the inspection plan working along hanging track finally.By combining the kinematics and dynamics simulation results,this paper design a set of mechanical structure design scheme and soft-hardware control system scheme suitable for the inspection robot working along hanging track,and we also design a whole set of motion control strategy,interior fusion localization strategy,path planning strategy and fault diagnosis strategy for the inspection system.Last but not least,the self-designed robot has worked in real substation,and gone through a series of experiments to test its system function and key algorithm fully.