Design And Implementation Of Intelligent Inspection Operation Robot System Based On Machine Vision

Substations play an important role in voltage and current conversion,reception and distribution of electrical energy in the power system,and are an indispensable part of the entire power system.At this stage,the operation and maintenance work of substations in China is mainly carried out through regular inspections and maintenance by duty personnel.There are many problems in the work efficiency and personnel safety.Therefore,with the development of robot technology,the power grid began to gradually replace part of the manual work with substation inspection robots to solve the above problems.The high-voltage switchgear is a very important device in the substation.The substation inspection robot will perform status recognition and discharge detection on it,but manual operation is still required when the switchgear is opened and closed.This not only increases the work load,but also is prone to safety.accident.Therefore,this paper developed a set of intelligent inspection operation robot system based on machine vision.On the basis of the original inspection robot's function of inspection and monitoring of the substation,the operation function of high-voltage switchgear was added to further improve the automation degree of the substation.In terms of the design of the intelligent inspection operation robot: the operation robot body is navigated and positioned by the laser sensor,carries the visible light camera,infrared thermal imager,and ultrasonic sensor to collect data.In addition,the assembled robotic arm performs high-precision automatic control of related equipment through visual servo operating.The software control system adopts the B / S architecture,and the user can directly control the operation robot and deliver tasks through a browser.The control platform will store and process the data collected by the robot and display it in a visual form.The communication system is composed of wireless and wired,and the data communication protocol is selected according to the data type.The operation robot can allow the staff to conduct remote inspections on site for inspection,and can also realize fully automatic inspections.The main innovation of this article is to combine the advantages of traditional electric mobile inspection robots and multi-degree-of-freedom manipulators,and design a more comprehensive intelligent inspection operation robot system.The intelligent inspection operation robot first detects the status indicator of the highvoltage switchgear through color attributes and HSV color characteristics.This method can accurately identify and effectively avoid interferences such as illumination and angle in the image.No need to spend time training.When the status indicator shows that the handcart circuit breaker is operable,the intelligent inspection operation robot controls the hand-eye servo system of the mounted robot arm,and compensates for the positioning error of the mobile robot step by step through the image features,so that the end of the robot arm operation unit and the operation object are in Ideal relative position,and then control the robot arm to move in a fixed path to insert the operation unit into the operation hole to perform the corresponding operation.This method greatly reduces the amount of calculation through step compensation and tentative movement,and the control accuracy meets the task requirements.Compared with robots with a single inspection function,the intelligent inspection operation robot system based on machine vision has further improved the degree of intelligence and automation of the substation.Its promotion and application in the substation also have higher safety and economic benefits.Social benefits.