智能变电站巡检服务机器人
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摘要
针对变电站传统人工巡检方式存在的诸多问题和安全隐患,设计了一种全新的智能变电站巡检服务机器人,首先介绍了该机器人的总体设计方案、主要功能.其次详细介绍了机器人系统中如图像处理、路径规划、视觉导航、监控系统等关键技术,最后通过实际样机的测试分析,该机器人能够快速、准确地完成各种巡检任务,效率高且安全可靠,具有较强的现实意义和经济效益.
A new kind of smart substation inspection service robot is designed for many problems and safety hazards in traditional manual inspection methods of substations.Firstly,the overall design plan and main functions of the robot are introduced.Then the robot system is introduced in detail.For example,key technologies such as image processing,path planning,visual navigation,and monitoring systems,etc.Finally,through testing and analysis of actual prototypes,the robot can perform various inspection tasks quickly and accurately,with high efficiency,safety and reliability,strong practical significance and economic benefits.
A new kind of smart substation inspection service robot is designed for many problems and safety hazards in traditional manual inspection methods of substations.Firstly,the overall design plan and main functions of the robot are introduced.Then the robot system is introduced in detail.For example,key technologies such as image processing,path planning,visual navigation,and monitoring systems,etc.Finally,through testing and analysis of actual prototypes,the robot can perform various inspection tasks quickly and accurately,with high efficiency,safety and reliability,strong practical significance and economic benefits.
引文
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[7]向世明.Visual C++数字图像处理[M].北京:电子工业出版社,2002.
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[10]樊守伟,严艳,张少杰,等.Dijkstra算法与旅游路径优化[J].西安邮电大学学报,2014,1(1):121-124.
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[12]CHENG Y H,HE W Y,DI H Y,et al.Study on motion con-trol method for a mobile platform driven by two independentwheels[C]//Proceedings of the Eighth International Conferenceon Fluid Power Transmission and Control.[S.l.:s.n.],2013:461-465.
[2]Y Shimosasa,J Kanemoto,K Hakamada,et al.Some results of the test operation of a service system with autonomous inspection robot[J].26th Annual Conference of the IEEE,2003,1:405-409.
[3]鲁守银,苏建军.机器人在变电站设备巡检中的应用[J].机器人技术与应用,2007(5):33-35.
[4]周立辉,张永生,孙勇,等.智能变电站巡检机器人研制及应用[J].电力系统自动化,2011,35(19):85-88.
[5]毛琛琳,张功望,刘毅.智能机器人巡检系统在变电站中的应用[J].电网与清洁能源,2009,25(9):30-32.
[6]Richard T.Principles of effective multisensor data fusion[J].Military Technology,2003,27(5):29-37.
[7]向世明.Visual C++数字图像处理[M].北京:电子工业出版社,2002.
[8]边肇棋,张学工.模式识别[M].2版.北京:清华大学出版社,2000.
[9]张诣.混沌神经网络算法研究及其在医学图像处理中的应用[D].大连:大连理工大学,2013.
[10]樊守伟,严艳,张少杰,等.Dijkstra算法与旅游路径优化[J].西安邮电大学学报,2014,1(1):121-124.
[11]KIRKPATRICK S,GELATT C D,VECCHI M P.Optimization by simulated annealing[J].Science,1983,220(4598):671-680.
[12]CHENG Y H,HE W Y,DI H Y,et al.Study on motion con-trol method for a mobile platform driven by two independentwheels[C]//Proceedings of the Eighth International Conferenceon Fluid Power Transmission and Control.[S.l.:s.n.],2013:461-465.