Substation inspection robot system and inspection method

Abstract

The invention provides a substation inspection robot system and inspection method. The system involves a moving mechanism, an information acquisition mechanism and a control mechanism; the informationacquisition mechanism comprises a lifting support located on a moving platform, and a secondary equipment information acquisition device arranged at the top of the lifting support; the control mechanism comprises a controller, a two-dimensional laser radar and a tracking sensor which are arranged on the moving platform; and after the controller receives a signal output by the two-dimensional laser radar, a SLAM navigation algorithm is firstly adopted to generate a scene map and synchronous positioning is carried out, then the inspection path planning is carried out to control the inspection robot to sequentially move to the positions in which each secondary equipment is located, then the pose of the inspection robot is adjusted according to a signal output by the tracking sensor, and thesecondary equipment information acquisition device is controlled to work after the inspection robot reaches preset mark position. According to the substation inspection robot system and inspection method, the inspection robot can freely shuttle in narrow paths, and the operation state and information acquisition of each secondary equipment can be completed automatically.

Description

technical field [0001] The invention relates to the field of substation inspection, in particular to a substation inspection robot system and method. Background technique [0002] At present, with the continuous development and progress of automation, some work in various industries has been gradually completed automatically by automated robots, and manual methods are no longer necessary. Due to the convenience and efficiency of the automation method, the daily inspection work of the substation has gradually evolved from the manual inspection method to the automated method, that is, the daily inspection work of the substation is completed by the inspection robot. [0003] The intelligent inspection robot mainly realizes the inspection and recording of the secondary equipment indicator lights of the substation, the hard pressure plate of the screen cabinet, the air switch, the transfer switch, the display meter and other equipment, and realizes the automatic navigation inspec...

AI Technical Summary

Problems solved by technology

Although this method is simple and feasible, since the fixed track is set in the substation, on the one hand, it will increase the cost of track laying and maintenance; on the other hand, since the substation inspection robot can only move along the fixed track, for In the substation environment, there is a blind spot in the monitoring device of the substation inspection robot, and it is impossible to realize a comprehensive inspection of the substation.

Due to the existence of inspection blind spots in substations, the potential safety hazards of substations are increased

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