摘要
介绍了一种基于移动机器人的设备巡检系统在智能变电站的应用情况。该系统携带可见光摄像机、红外热像仪、拾音器等传感器,基于磁轨迹实现最优路径规划和双向行走,以自主或遥控方式对站内一次设备进行巡检,及时发现设备热缺陷和外观异常;通过图像处理和模式识别,判别出开关和刀闸的分合状态,并在遥控或顺序控制操作时,与智能变电站顺控系统配合,代替人工实现被控设备位置的自动校核。现场实际应用情况表明,移动式变电站设备巡检机器人为智能变电站或无人值守变电站的运行管理提供了一种创新型的设备检测和监控手段。
The application of the equipment inspection system based on the outdoor mobile robot used in the smart substation or automatic substation is described. With the video camera, thermal infrared imager, microphone and other sensors, the robot has realized optimal path plarming and two-way movement based on the magnetic track to patrol devices by autonomous or remote control to detect thermal problems and abnormal appearances. By image processing and pattern recognition, this robot system can identify the opening/closing state of breaker and isolator. When executing device operation by remote control or sequence control, the mobile robot can replace operating people to check the state of a controlled device. By practical experience, this mobile robot provides an innovative means of detection and monitoring for the smart substation and unmanned substation.
出处
《电力系统自动化》
EI
CSCD
北大核心
2011年第19期85-88,96,共5页
Automation of Electric Power Systems
关键词
智能变电站
巡检机器人
顺序控制
磁轨迹
最优路径规划
smart substation
inspection robot
sequence control
magnetic track
optimal path planning
