高压开关柜局部放电检测机器人的开发与应用
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摘要
目前开关柜局部放电检测只能依靠人工操作,存在工作量大、检测效率低、检测质量差等问题。为了解决上述问题,设计开发了一种可用于开关柜局部放电检测的机器人,该机器人以变电站巡检机器人为基础,安装了5个自由度的轻型机械臂,采用双目立体视觉技术实现检测位置的定位,可以携带多种传感器自主实现高压开关柜的局部放电检测。该机器人在济南美里湖变电站进行了试点应用,各项功能均达到了预期目标,具有工程实践意义。
Partial discharge detection of switchgear can only depend on manual operation at present, which has many problems such as large workload, low detection efficiency and poor detection quality. Aiming at above-mentioned problems, a robot is developed for partial discharge detection of switchgears. Based on the substation inspection robot, the newly developed robot is installed with a 5-DOF manipulator, uses binocular stereo vision technology to locate the detection position, and can carry multi-type sensors for automatically detecting the partial discharge state of the switchgears. The robot has been applied in the Ji'nan Mei Li Lake substation,and the results show that all the functions of the robot have reached the expected goals. The robot is of great significance for engineering application.
Partial discharge detection of switchgear can only depend on manual operation at present, which has many problems such as large workload, low detection efficiency and poor detection quality. Aiming at above-mentioned problems, a robot is developed for partial discharge detection of switchgears. Based on the substation inspection robot, the newly developed robot is installed with a 5-DOF manipulator, uses binocular stereo vision technology to locate the detection position, and can carry multi-type sensors for automatically detecting the partial discharge state of the switchgears. The robot has been applied in the Ji'nan Mei Li Lake substation,and the results show that all the functions of the robot have reached the expected goals. The robot is of great significance for engineering application.
引文
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[15]XIAO P,GUO R,LUAN Y,et al.Design of a laser navigation system for substation inspection robot[J].Applied Mechanics&Materials,2015,713-715(385-386):711-714.
[16]原思聪,刘金颂,张庆阳,等.双目立体视觉中的图像匹配方法研究[J].计算机工程与应用,2008,44(8):75-77.YUAN Sicong,LIU Jinsong,ZHANG Qingyang,et al.Research on image matching method in binocular stereo vision[J].Computer Engineering and Applications,2008,44(8):75-77.
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[18]李海军,王洪丰,沙焕滨.平行双目视觉系统的三维重建研究[J].自动化技术与应用,2007,26(6):56-58.LI Haijun,WANG Hongfeng,SHA Huanbin.3D reconstruction based on parallel binocular stereo vision[J].Techniques of Automation and Applications,2007,26(6):56-58.
[2]申成兵.高压开关柜局部放电在线监测系统的研究[D].南京:江苏科技大学,2013.
[3]郭俊,吴广宁,张血琴,等.局部放电检测技术的现状和发展[J].电工技术学报,2005,20(2):29-35.GUO Jun,WU Guangning,ZHANG Xueqin,et al.The actuality and perspective of partial detection techniques[J].Transactions of China Electrotechnical Society,2005,20(2):29-35.
[4]章涛,王俊波,李国伟.10 kV开关柜局部放电检测技术研究与运用[J].高压电器,2012,48(10):100-104.ZHANG Tao,WANG Junbo,LI Guowei.Research on the partial discharge detection technology for 10 kV switchgear[J].High Voltage Apparatus,2012,48(10):100-104.
[5]李军浩,韩旭涛,刘泽辉,等.电气设备局部放电检测技术述评[J].高电压技术,2015,41(8):2583-2601.LI Junhao,HAN Xutao,LIU Zehui,et al.Review on partial discharge measurement technology of electrical equipment[J].High Voltage Engineering,2015,41(8):2583-2601.
[6]张君.浅析开关柜局部放电带电检测技术的应用[C]//云南电力技术论坛,2012.
[7]杨旭东,黄玉柱,李继刚,等.变电站巡检机器人研究现状综述[J].山东电力技术,2015,42(1):30-34.YANG Xudong,HUANG Yuzhu,LI Jigang,et al.Research status review of robots applied in substations for equipment inspection[J].Shandong Electric Power,2015,42(1):30-34.
[8]罗俊豪,颜雨薇.变电站自动巡检机器人系统及其关键技术[J].电气应用,2014(13):80-84.LUO Junhao,YAN Yuwei.Substation inspection robot system and key technology[J].Electrotechnical Application,2014(13):80-84.
[9]Guo R,Han L,Sun Y,et al.A mobile robot for inspection of substation equipments[C]//Applied Robotics for the Power Industry(CARPI),2010 1st International Conference on.IEEE,2010:1-5.
[10]蔡焕青,邵瑰玮,胡霁,等.变电站巡检机器人应用现状和主要性能指标分析[J].电测与仪表,2017,54(14):117-123.CAI Huanqing,SHAO Guiwei,HU Ji,et al.Analysis of the main performance index and application status of inspection robot in substation[J].Electrical Measurement&Instrumentation,2017,54(14):117-123.
[11]李桐,康真,陈巳阳,等.开关柜局部放电综合检测方法的研究与应用[J].宁夏电力,2016(2):31-36.LI Tong,KANG Zhen,CHEN Siyang,et al.Research and application of the integrated detection method of partial discharge in switch cabinet[J].Ningxia Electric Power,2016(2):31-36.
[12]曾雄杰,江健武,侯俊.TEV和UHF在10kV开关柜带电检测中的应用[J].高压电器,2012,48(1):41-47.ZENG Xiongjie,JIANG Jianwu,HOU Jun.Application of TEV and UHF in PD detection for the Live 10 kV switchgear[J].High Voltage Apparatus,2012,48(1):41-47.
[13]叶广耀.基于地电波检测的高压开关柜局部放电监测系统[D].北京:华北电力大学,2013.
[14]王培义,朱伯涛.开关柜局部放电超声波在线检测技术的应用[J].河北电力技术,2010,29(6):26-26.WANG Peiyi,ZHU Botao.Application of partial discharge ultrasonic on-line detection technology for switchgear[J].Hebei Electric Power,2010,29(6):26-26.
[15]XIAO P,GUO R,LUAN Y,et al.Design of a laser navigation system for substation inspection robot[J].Applied Mechanics&Materials,2015,713-715(385-386):711-714.
[16]原思聪,刘金颂,张庆阳,等.双目立体视觉中的图像匹配方法研究[J].计算机工程与应用,2008,44(8):75-77.YUAN Sicong,LIU Jinsong,ZHANG Qingyang,et al.Research on image matching method in binocular stereo vision[J].Computer Engineering and Applications,2008,44(8):75-77.
[17]HIRSCHMüLLER H,INNOCENT P R,GARIBALDI J.Real-time correlation-based stereo vision with reduced border errors[J].International Journal of Computer Vision,2002,47(1-3):229-246.
[18]李海军,王洪丰,沙焕滨.平行双目视觉系统的三维重建研究[J].自动化技术与应用,2007,26(6):56-58.LI Haijun,WANG Hongfeng,SHA Huanbin.3D reconstruction based on parallel binocular stereo vision[J].Techniques of Automation and Applications,2007,26(6):56-58.