移动机器人在高压变电站中的应用

发布时间：2018-03-26 17:20

本文选题：变电站　切入点：巡检机器人　出处：《高电压技术》2017年01期

【摘要】：为了更好地促进变电站巡检机器人在变电站中的应用推广,推进变电站无人值守进程,在详细分析了变电站设备巡检的现场需求基础上,提出了一种变电站设备巡检机器人分层混合式体系结构,并设计了适用于变电站环境的精确导航定位系统、可靠的电源管理系统和通讯系统。同时,对变电站设备热缺陷及外观异常精确识别和声音异常诊断的检测系统进行了设计,并对巡检机器人的可靠性、安全性、可行性进行了现场验证。结果表明:变电站巡检机器人可以更好地适应复杂非结构化的变电站环境,实现较精确的自主定位导航,并具备长时间的能源保障和可靠安全的通讯功能,解决了变电站设备精准识别、检测及和后台分析诊断实现问题,保证了巡检机器人安全稳定的在线监测作业,满足变电站设备现场巡检的需求。最后给出了巡检机器人下一阶段研究的几点建议。
[Abstract]:In order to promote the application of substation inspection robot in substation and promote the unattended process of substation, on the basis of detailed analysis of the field requirements of substation equipment inspection, This paper presents a hierarchical hybrid architecture for substation equipment inspection robot, and designs a precise navigation and positioning system, a reliable power management system and a communication system suitable for substation environment. The detection system of thermal defect and appearance anomaly recognition and sound anomaly diagnosis of substation equipment is designed, and the reliability and safety of the inspection robot are also discussed. The feasibility is verified in the field. The results show that the substation inspection robot can better adapt to the complex unstructured substation environment and realize more accurate autonomous positioning and navigation. With long time energy security and reliable and safe communication function, it solves the problems of accurate identification, detection and background analysis and diagnosis of substation equipment, and ensures the safety and stability of the on-line monitoring operation of the inspection robot. Finally, some suggestions for the next stage research of the inspection robot are given.
【作者单位】：山东建筑大学机器人技术与智能系统研究院;山东鲁能智能技术有公司;国家电网公司电力机器人重点实验室;国网山东省电力公司电力科学研究院;
【基金】：国家高技术研究发展计划(863计划)(2012AA041506) 国家自然科学基金(6140021031) 山东省科学技术发展计划资助项目(2014GGX103002)~~
【分类号】：TP242;TM63

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