变电站机器人智能巡检技术及应用效果
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摘要
随着中国电网规模迅速发展,传统人工巡视已不能适应变电站运维需求,智能机器人巡检已成为变电站巡检的重要发展方向。文中以变电站机器人实用化巡检为目标,系统研发了机器人综合导航,可见光、红外及音频检测,机器人自动充电以及任务规划等智能巡检技术,在广东电网220 kV和500 kV变电站开展巡检应用,实现了电流致热型缺陷的红外检测,开关状态和表计读数的可见光检测,主变噪声的音频检测,对变电站设备进行全天候、全方位、全自主智能巡视和运行监控。变电站机器人智能巡检技术在实际应用中取得良好效果,极大提高了变电站巡检效率,降低了巡检成本,具有良好的推广应用前景。
As electric power industry develops in high speed, traditional manual inspection can't ensures the operation safety of substation any more, intelligent robot inspection technology has become the future of substation inspection. Aiming at practical inspection of substation robot in our country, this paper proposes several key technology of substation robot intelligent inspection include comprehensive navigation, visible, infrared and audio detection, robot automatic charging and assignment programming, then carries out inspection application in 220 kV and 500 kV substation in Guangdong Power Grid, and achieves functions like infrared detection current induced thermal defect,visible light detection switch condition and meter readout, and audio detection main transformer noise. All-weather,omnidirectional and fully automatic intelligent inspection and monitoring for substation is achieved. The technology performs well in practical application, and can sharply reduce inspection cost. It has remarkable popularization and application prospect.
As electric power industry develops in high speed, traditional manual inspection can't ensures the operation safety of substation any more, intelligent robot inspection technology has become the future of substation inspection. Aiming at practical inspection of substation robot in our country, this paper proposes several key technology of substation robot intelligent inspection include comprehensive navigation, visible, infrared and audio detection, robot automatic charging and assignment programming, then carries out inspection application in 220 kV and 500 kV substation in Guangdong Power Grid, and achieves functions like infrared detection current induced thermal defect,visible light detection switch condition and meter readout, and audio detection main transformer noise. All-weather,omnidirectional and fully automatic intelligent inspection and monitoring for substation is achieved. The technology performs well in practical application, and can sharply reduce inspection cost. It has remarkable popularization and application prospect.
引文
[1]宋晓明.变电站智能巡检机器人关键技术研究[D].长沙:长沙理工大学大学,2013:1-2.SONG Xiaoming. Key technology research of intelligent iterative inspection robot in substation[D]. Changsha:Changsha University of Science&Technology,2013:1-2.
[2]赵永俊.变电站巡视中图像分析方法的研究[D].北京:华北电力大学,2013:1-3.ZHAO Yongjun. Study of image analysis methods in substation inspecting[D]. Beijing:North China Electric Power University,2013:1-3.
[3]胡启明,胡润滋,周平.变电站巡检机器人应用技术[J].华中电力,2011(5):36-38.HU Qiming, HU Runzi, ZHOU Ping. Application of inspection robot technology in substation[J]. Central China Electric Power, 2011(5):36-38.
[4]陈启卷,毛慧和,肖志怀,等.便携式电力设备巡检装置[J].电力系统自动化,2001,25(2):61-63.CHEN Qijuan, MAO Huihe, XIAO Zhihuai,et al. Portable inspection tour installation of power equipment[J]. Automation of Electric Power Systems, 2001,25(2):61-63.
[5]陈志军.国内外变电站无人值守的比较与思考[J].广东电力,2006,19(1):35-38.CHEN Zhijun. Some comparisons and opinions of nonattended substations between china and foreign countries[J]. Guangdong Electric Power, 2006, 19(1):35-38.
[6]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):84-88.ZHOU Lihui,ZHANG Yongsheng,SUN Yong,et al. Development and application of equipment inspection robot for smart substations[J]. Automation of Electric Power Systems,2011,35(19):84-88.
[7]王可之.基于Pioneer3-AT的变电站巡检控制系统设计与实现[D].重庆:重庆大学,2011:1-3.WANG Kezhi. Design and implementation of control system of an inspection robot for substation equipment based on Pioneer 3-AT[D]. Chongqing:Chongqing University,2011:1-3.
[8] SHOUYIN L. Design and implement of control system for power substation equipment inspection robot[C]//International Conference on Intelligent Robots and Systems.[S.l.]:[s.n.], 2009:93-96.
[9] NAKASHIMA M, YANO K, MARUYAMA Y,et al. The hotline work robot system phase 2 and its human-robot interface MOS[C]//IEEE International Conference on Transmission and Distribution Construction and Live Line Maintenance.[S. l.]:IEEE, 1995:212-218.
[10] TAKAOKA K, YOKOYAMA K, WAKISAKO H. Development of the fully-automatic live-line maintenance robot phase3[C]//4th IEEE International Symposium on Assembly and Task Planning Soft Research Park.[S.I.]:IEEE,2001:28-29.
[11] POULIOT N, MONTAMBAULT S. Geometric design of the line scout:A teleoperted robot for power line inspection and maintenance[C]//2008 IEEE International Conference of Robotics and Automation. Pasadena, USA:IEEE, 2008:3970-3977.
[12] PINTO J K C,MASUDA M,MAGRINI L C,et al. Mobile robot for hot spot monitoring in electric power substation[C]//Transmission and Distribution Conference and Exposition.[S.l.]:[s.n.], 2008:1-5.
[13] BRIK A, KENN H. An industrial application of behaviororiented robotics in substation[C]//IEEE International Conference on Robotics and Automation.[S.l.]:IEEE, 2005:749-754.
[14] CARNEGIE D A,LOUGHNANE D L, HURD S A. The design of a mobile autonomous robot for substation application[J]. Journal of Engineering Manufacture-Proceedings Part B, 2008,218(B5):533-543.
[15]李向东,鲁守银,王宏,等.一种智能巡检机器人的体系结构分析[J].机器人,2005,27(6):502-506.LI Xiangdong,LU Shouyin, WANG Hong,et al. Design and analysis on the architecture of an intelligent iterative inspection robot[J]. Robot,2005,27(6):502-506.
[16]鲁守银,钱庆林,张斌,等.变电站设备巡检机器人的研制[J].电力系统自动化,2006,30(13):94-98.LU Shouyin, QIAN Qinglin, ZHANG Bin, et al.Development of a mobile robot for substation equipment inspection[J]. Automation of Electric Power Systems, 2006,30(13):94-98.
[17]王荣本,余天洪,郭烈,等.强光照条件下车道标识线识别与跟踪方法[J].计算机应用,2006(26):32-34.WANG Rongben,YU Tianhong,GUO Lie,et al. Lane mark identification and tracking method under bright illumination[J]. Computer Application, 2006(26):32-34.
[18]许宏科,秦严严.一种基于Hough变换的车道线检测新方法[J].徐州工程学院学报(自然科学版),2013,28(4):-4.XU Hongke, QIN Yanyan. A new method for lane line detection based on Hough transformation[J]. Journal of Xuzhou Institute of Technology(Natural Sciences Edition),2013,28(4):1-4.
[19]何缘,吴功平,肖华.高压输电线路巡检机器人机构设计及运动学分析[J].高压电器,2016,52(6):61-68.HE Yuan, WU Gongping, XIAO Hua. Mechanism design and kinematic analysis of inspection robot for high voltage transmission lines[J]. High Voltage Apparatus, 2016,52(6):61-68.
[20]李永祥,王天正,李艳鹏,等.基于红外成像检漏技术的GIS设备气体泄漏异常分析[J].高压电器,2016,52(7):185-191.LI Yongxiang, WANG Tianzheng, LI Yanpeng, et al.Abnormal analysis of GIS electrical equipment gas leakage based on infrared imaging leakage detection technology[J].High Voltage Apparatus,2016,52(7):185-191.
[21]金立军,曹培,胡娟.可见光图像颜色特征与支持向量机相结合的绝缘子污秽状态识别方法[J].高压电器,2015,51(2):1-7.JIN Lijun, CAO Pei, HU Juan. Identification of insulator contamination grade combining color features of visual image with support vector machine[J]. High Voltage Apparatus, 2015,51(2):1-7.
[2]赵永俊.变电站巡视中图像分析方法的研究[D].北京:华北电力大学,2013:1-3.ZHAO Yongjun. Study of image analysis methods in substation inspecting[D]. Beijing:North China Electric Power University,2013:1-3.
[3]胡启明,胡润滋,周平.变电站巡检机器人应用技术[J].华中电力,2011(5):36-38.HU Qiming, HU Runzi, ZHOU Ping. Application of inspection robot technology in substation[J]. Central China Electric Power, 2011(5):36-38.
[4]陈启卷,毛慧和,肖志怀,等.便携式电力设备巡检装置[J].电力系统自动化,2001,25(2):61-63.CHEN Qijuan, MAO Huihe, XIAO Zhihuai,et al. Portable inspection tour installation of power equipment[J]. Automation of Electric Power Systems, 2001,25(2):61-63.
[5]陈志军.国内外变电站无人值守的比较与思考[J].广东电力,2006,19(1):35-38.CHEN Zhijun. Some comparisons and opinions of nonattended substations between china and foreign countries[J]. Guangdong Electric Power, 2006, 19(1):35-38.
[6]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):84-88.ZHOU Lihui,ZHANG Yongsheng,SUN Yong,et al. Development and application of equipment inspection robot for smart substations[J]. Automation of Electric Power Systems,2011,35(19):84-88.
[7]王可之.基于Pioneer3-AT的变电站巡检控制系统设计与实现[D].重庆:重庆大学,2011:1-3.WANG Kezhi. Design and implementation of control system of an inspection robot for substation equipment based on Pioneer 3-AT[D]. Chongqing:Chongqing University,2011:1-3.
[8] SHOUYIN L. Design and implement of control system for power substation equipment inspection robot[C]//International Conference on Intelligent Robots and Systems.[S.l.]:[s.n.], 2009:93-96.
[9] NAKASHIMA M, YANO K, MARUYAMA Y,et al. The hotline work robot system phase 2 and its human-robot interface MOS[C]//IEEE International Conference on Transmission and Distribution Construction and Live Line Maintenance.[S. l.]:IEEE, 1995:212-218.
[10] TAKAOKA K, YOKOYAMA K, WAKISAKO H. Development of the fully-automatic live-line maintenance robot phase3[C]//4th IEEE International Symposium on Assembly and Task Planning Soft Research Park.[S.I.]:IEEE,2001:28-29.
[11] POULIOT N, MONTAMBAULT S. Geometric design of the line scout:A teleoperted robot for power line inspection and maintenance[C]//2008 IEEE International Conference of Robotics and Automation. Pasadena, USA:IEEE, 2008:3970-3977.
[12] PINTO J K C,MASUDA M,MAGRINI L C,et al. Mobile robot for hot spot monitoring in electric power substation[C]//Transmission and Distribution Conference and Exposition.[S.l.]:[s.n.], 2008:1-5.
[13] BRIK A, KENN H. An industrial application of behaviororiented robotics in substation[C]//IEEE International Conference on Robotics and Automation.[S.l.]:IEEE, 2005:749-754.
[14] CARNEGIE D A,LOUGHNANE D L, HURD S A. The design of a mobile autonomous robot for substation application[J]. Journal of Engineering Manufacture-Proceedings Part B, 2008,218(B5):533-543.
[15]李向东,鲁守银,王宏,等.一种智能巡检机器人的体系结构分析[J].机器人,2005,27(6):502-506.LI Xiangdong,LU Shouyin, WANG Hong,et al. Design and analysis on the architecture of an intelligent iterative inspection robot[J]. Robot,2005,27(6):502-506.
[16]鲁守银,钱庆林,张斌,等.变电站设备巡检机器人的研制[J].电力系统自动化,2006,30(13):94-98.LU Shouyin, QIAN Qinglin, ZHANG Bin, et al.Development of a mobile robot for substation equipment inspection[J]. Automation of Electric Power Systems, 2006,30(13):94-98.
[17]王荣本,余天洪,郭烈,等.强光照条件下车道标识线识别与跟踪方法[J].计算机应用,2006(26):32-34.WANG Rongben,YU Tianhong,GUO Lie,et al. Lane mark identification and tracking method under bright illumination[J]. Computer Application, 2006(26):32-34.
[18]许宏科,秦严严.一种基于Hough变换的车道线检测新方法[J].徐州工程学院学报(自然科学版),2013,28(4):-4.XU Hongke, QIN Yanyan. A new method for lane line detection based on Hough transformation[J]. Journal of Xuzhou Institute of Technology(Natural Sciences Edition),2013,28(4):1-4.
[19]何缘,吴功平,肖华.高压输电线路巡检机器人机构设计及运动学分析[J].高压电器,2016,52(6):61-68.HE Yuan, WU Gongping, XIAO Hua. Mechanism design and kinematic analysis of inspection robot for high voltage transmission lines[J]. High Voltage Apparatus, 2016,52(6):61-68.
[20]李永祥,王天正,李艳鹏,等.基于红外成像检漏技术的GIS设备气体泄漏异常分析[J].高压电器,2016,52(7):185-191.LI Yongxiang, WANG Tianzheng, LI Yanpeng, et al.Abnormal analysis of GIS electrical equipment gas leakage based on infrared imaging leakage detection technology[J].High Voltage Apparatus,2016,52(7):185-191.
[21]金立军,曹培,胡娟.可见光图像颜色特征与支持向量机相结合的绝缘子污秽状态识别方法[J].高压电器,2015,51(2):1-7.JIN Lijun, CAO Pei, HU Juan. Identification of insulator contamination grade combining color features of visual image with support vector machine[J]. High Voltage Apparatus, 2015,51(2):1-7.