变电站高压室巡检机器人研究与设计

Research and Design of Substation High-Voltage Room Inspection Robot

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变电站高压室执行巡检任务,达到了系统设计要求,有推广和借鉴价值。

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 and low efficiency,and to ensure the safety of electric power operation.The robot uses NVIDIA high-performance processor as the main controller,STM32 as the Co-processing board,and 4-wheel drive,integrated indoor mobile robot with extensible lifting rod,rotating head and infrared and high-definition video camera,with the help of visual navigation algorithm based on depth learning,switch cabinet image recognition algorithm and background monitoring software with stability,high efficiency and practicability,the full coverage inspection of indoor switch cabinet equipment can be carried out effectively.After more than one year of operation and maintenance,the error rate of recognition is less than 3.5%,and the recognition rate≥95%.The inspection robot designed can effectively perform inspection tasks on the high-voltage room of the substation,meeting the system design requirements,and has promotion and reference value.