Application Of Intelligent Patrol Robot In Substation

As a kind of special robot which can be used in substation.Device instead of substation staff to detect equipment failures,record instrument data,and so on.Due to its application prospects in reducing manpower intensity,ensuring the stable operation of substation equipment and improving the level of substation intelligence,it has become a hot research topic at present,and some achievements have been running in domestic substations.However,it is the main research direction to improve its reliability,accuracy,intelligence and human-computer interaction,so that the robot can completely replace the human being in the substation inspection at the end of the paper.The main research direction is to improve the reliability,accuracy and intelligence.First of all,after investigating the existing domestic and foreign examples of substation inspection robot and relevant standards,the research scheme is determined.The inspection robot uses a navigation system based on lidar positioning.The network-based visible high-definition camera and thermal imaging high-definition camera are used to achieve reliable integration and fault detection in the background of surveillance.The B/S architecture is used in the monitoring background,which enables the staff to use any computer to carry out the task of patrol and the management of the robot.Secondly,in order to realize autonomous positioning and navigation of patrol robot in substation,the software of motion planning layer is designed for robot.The two-dimensional grid map is built in substation environment based on GMapping algorithm,and then the topology diagram for patrol is established according to the patrol task and feasible path.The raster map-based AMCL algorithm is used to locate in the established topology diagram.The optimal task path is planned by integrating various data.Finally,the robot relies on the guidance of navigation algorithm to complete the point-to-point movement.In order to execute the task at the same time with the system monitoring background to achieve human-computer interaction,the function layer software is designed.In the process of software design,in order to avoid the system command conflict between various functional modules,six state modes are planned in the system.Including drawing deployment patrol automatic charging manual operation idle mode.Each module carries on the software design separately to complete the system function.Finally,in view of the actual situation of State grid Chaoyang power supply company,the designed patrol robot is put into use,and the perfect management mechanism is established and some results are obtained.It has a good early warning effect on several typical faults in the district.