期刊论文

Research and Design of Substation High-Voltage Room Inspection Robot

中文

电力学报

1005-6548

2023

38

03

186-197

10.13357/j.dlxb.2023.020

国家自然科学基金项目(62271087)。

本校为第一机构

传统变电站高压室巡检已满足不了电网发展形势的需要。设计了一种变电站高压室巡检机器人，解决高压室人工作业危险性高、效率低下等问题，以保障电力作业安全。以NVIDIA高性能处理器为主控制器、以STM32为协控制器，以4轮驱动，携带可伸展升降杆带旋转云台和红外、高清双视频摄像机的室内移动机器人，配合基于深度学习的视觉导航算法、开关柜图像识别算法，以及兼具稳定性、高效性与实用性的后台监控软件，能够有效地对室内开关柜设备进行全覆盖巡检。经一年多的现场运维，变电站高压室巡检机器人识别误差率在3.5%以内，完全满足系统任务要求的识别率≥95%的要求。设计的巡检机器人能够有效执行...

The traditional inspection of high-voltage rooms in substations can no longer meet the needs of the development situation of the power grid.a kind of substation high-voltage room inspection robot is designed to solve the problems of high-voltage room,such as high danger...MORE The traditional inspection of high-voltage rooms in substations can no longer meet the needs of the development situation of the power grid.a kind of substation high-voltage room inspection robot is designed to solve the problems of high-voltage room,such as high danger a...