Do you know anything about power inspection robots?

There are many use cases of power inspection robots, such as: substations, transmission lines, distribution rooms and other use scenarios, and most of the current power inspection robots are used in the above environments; The power inspection robot has been verified by the State Grid for 6 years, but there is still room for improvement in terms of current use; The brands with more sales in the State Grid system are: Shandong Luneng (now renamed State Grid Intelligent), Zhejiang Guozi, Shenzhen Langchi, Yijiahe, Hangzhou Shenhao and other brands, but the functions and stability of each product are similar, and they are not as prominent as advertised; After several years of development, the rapid development of domestic small and medium-sized manufacturers of inspection robot products, the emergence of Zhejiang Jinzhi, Shandong Jinhui, Huatong Technology and other brands of products, subject to the industry's internal policy restrictions, small and medium-sized brands are seriously suppressed, in the State Grid system rarely applied.

The power inspection robot is one of the series of special electric power robots, which is mainly used to replace the urgent, difficult, dangerous, heavy and repetitive work encountered in the detection of substations. I know that Huaruitong has done a good job in this regard.

The power high-voltage lines are inspected every day, because the lines are long and can be carried out in sections. The inspection in the substation is based on the equipment maintenance cycle, and the maintenance project, construction schedule and maintenance cycle are formulated according to the needs.

Inspection robots in substations.

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The items that can be detected should be determined according to the external probe of the robot. Generally, there will be an infrared thermal imaging device, which can be used to detect the heating status and temperature of the equipment, and if there is an ultraviolet discharge or ultrasonic device, it can also detect whether there is a discharge phenomenon in the power equipment.

Hello, I am Mr. Xiao Qi, a workplace service teacher, and my answer is: The following is the ranking of power inspection robot companies: 1

Huagong Technology, whose main business is the R&D and manufacturing of power inspection robots, is a leading provider of power equipment monitoring and intelligent operation and maintenance solutions in China. 2.CRRC Zhuzhou Institute - Tielong Intelligence, an intelligent manufacturing company under CRRC, is committed to the research and development and manufacturing of intelligent rail transit, and its power inspection robot products have obtained a number of patents.

3.Hisense Robot, an intelligent manufacturing technology company under Hisense Group, has a series of power inspection robot products, and has strong strength in artificial intelligence, machine vision and other technologies. 4.

Changsha Huizhi's main business is the R&D and manufacturing of power inspection robots. Its products include intelligent circuit breakers, SF6 gas measuring equipment, capacitance detectors, etc., and it is a well-known power equipment manufacturer in China. 5.

BDStar, whose main business is a provider of power equipment monitoring and intelligent operation and maintenance solutions, has a certain market share in China for its power inspection robot products. Extended information: The power inspection robot is a device that uses robots, sensors, image processing and other technologies to complete the inspection of power facilities.

It has the ability of autonomous navigation, autonomous control and autonomous decision-making, and can accurately and efficiently discover and record the operation of power equipment in complex power scenarios, and improve the safety and reliability of power grid operation. The power inspection robot is mainly composed of multiple hardware modules such as the robot body, camera, sonar, lidar, sensor, etc., which can communicate with the command center or management terminal in real time through the Internet, wireless network and other communication methods. During the inspection process, it can automatically detect the operation status of power equipment, such as hot spots, electromagnetic leakage and other abnormal conditions, analyze and process the detection results, provide and search real-time reports and alarm information, and facilitate operation and maintenance personnel to deal with the faults and abnormal problems of power socks dissipation equipment in a timely manner.

The power inspection robot scans the whole station equipment from different angles by setting multiple monitoring points in advance to collect the temperature of the whole station equipment. The system can detect the temperature of transformers and other equipment, as well as switch contacts, bus connectors, etc., and also uses temperature rise analysis, temperature difference comparison of similar or three-phase equipment, historical trend analysis and other methods. Through the intelligent analysis and diagnosis of equipment temperature data, the identification and automatic alarm of equipment thermal defects are realized.

Through the application of the robot detection system, it has obvious effects on reducing workload, improving operation and maintenance efficiency and equipment abnormal emergency treatment speed, which is mainly reflected in the following four aspects: First, greatly reducing the intensity of the workbench of operation and maintenance personnel. It is mainly evident in temperature measurement and instrument data transcription.

Before using the robot, operators and maintenance personnel needed about 10 man-hours to measure the temperature of the entire station equipment, and individual man-hours to record data from major equipment and instrumentation. After the robot is used, these two tasks are handed over to the Pushu technical patrol robot instead of manual work, which can reduce the labor time by about 100 man-hours, which is conducive to liberating operators and maintenance personnel, and devoting more time to other work such as operation and maintenance integration and saving personnel. Labor costs.

The substation inspection robot system is a complex system with a lot of content. Organic electronic integration technology, electromagnetic compatibility technology, multi-sensor fusion technology, navigation and behavior planning technology, safety technology, robot vision technology, and stable wireless transmission technology are integrated. This system is completely autonomous.

Or through the remote control personnel to inspect some equipment outside the substation, eliminate personnel inspection, can independently analyze and judge the image, independently find the abnormal situation of the power equipment and analyze the problem, can meet the needs of no one on duty. At the same time, it also provides an effective and reliable technical detection means, which can effectively improve the quality of the power grid and make the power grid run smoothly.

Pushu Technology substation inspection robots usually adopt a hierarchical control structure, which is divided into a base station system layer and a mobile station system layer. The base station system of the patrol robot is connected with the mobile station system through wireless communication equipment to realize the remote transmission of patrol data and the remote control of base station commands. On this basis, it can be easily connected with the special optical fiber communication network for power system production to realize data exchange with the dispatching center.

Substation inspection robots generally use contact power supply. Wireless charging has the advantages of no contact between the charging pile and the receiving end, poor contact with the robot, and copper oxidation at the receiving end, and the detection of the robot battery is not charged, with high reliability. High and easy to operate.

In recent years, with the acceleration of urban development, the expansion and new construction of substations are increasing, the workload of substation inspection is increasing, and the on-site rate and timeliness of manual inspection are not guaranteed. The difference between the inspection robot and the manual patrol is that the robot can independently complete the patrol work throughout the day and in complex environments. Whether it's a snowstorm or hot weather, you can complete the mission with high quality.

The outdoor intelligent inspection robot establishes a set of three-dimensional latitude and longitude system in the substation, and locates and records the total station equipment. The power inspection robot completes the detection tasks such as equipment temperature, equipment appearance, opening and closing status, instrument, equipment noise and so on through the background manual control interface of the operation and maintenance personnel, and finally forms a test report.

By using the inspection robot, the corresponding data can be dynamically detected in real time in the substation, and the collected data can be transmitted to the human-computer interaction system through communication. Through the analysis of relevant data, find out the problems or defects of the equipment, save the data information, and finally generate a complete report. Pushu Technology substation inspection robots mainly include human-computer interaction monitoring system, communication system and inspection robot ontology.

The function of the human-computer interaction monitoring system is to realize the real-time monitoring and display of the moving body, and the communication system is responsible for the data and instruction exchange between the background monitoring system and the moving body.

The advantages of inspection robots are as follows:

1.Lightweight design with excellent cruising ability.

2.Large load, multi-interface can load various devices at will, and support customized design.

3.A variety of safety protection measures are integrated into one to adapt to a variety of indoor applications.

4.Intelligent lifting, the minimum height is 15cm, the maximum height is 170cm, which is suitable for multiple scenes.

5.It can identify instruments, meters, foreign objects, cables, etc., and support real-time data transmission.

The inspection robot is mainly used in indoor and outdoor inspection work, and the inspection function of the inspection robot has the functions of autonomous movement, high-precision navigation and precise positioning, which is mainly carried out through the camera induction on the inspection robot. The inspection robot can adapt to work in a variety of indoor and outdoor environments.

Wireless charging technology.

Pushu Technology understands that substation inspection robots generally use contact power supply, and when the robot returns to the charging room to charge, due to poor contact, it will bring certain safety hazards to the equipment, therefore, how to charge the robot battery is a problem we must solve. Consider wireless charging technologies that are already currently being used in mobile phones. The advantages of wireless charging technology are that there is no need to contact with the charging pile and the power receiving end, and it is not in good contact with the robot, and the copper oxidation of the power receiving end causes the battery of the inspection robot to be unable to be charged, and its reliability is high and the operation is convenient.

Intelligent navigation technology.

The navigation system is one of the key issues that reflect the autonomous characteristics and intelligent behavior of the inspection robot, and it is also the research frontier and hot spot in the field of mobile robots, and the goal of the navigation system is that the robot can autonomously search for the shortest feasible path from the current location point and the destination location point according to the current map environment, and then complete the autonomous movement from the starting point to the target point along the path. Therefore, in order to ensure that the power inspection robot can carry out long-term autonomous inspection in the substation, it is very important to design a robot navigation system with high positioning accuracy, strong anti-interference ability, safe and reliable operation suitable for the substation environment.

Network communication technology based on mobile platform.

The communication network is a "bridge" to ensure the normal communication between the robot and the base station computer, and the quality of the communication signal determines whether the monitoring data can be transmitted to the base station computer safely and stably. The environment of the ten substations is very special, and it can almost be said that it is the most unsuitable environment for building a network platform in the industrial field, and the construction of a wireless network will encounter very big troubles, so it is necessary to conduct a detailed analysis of this part of the content. The communication system between the patrol robot and the base station uses the current relatively mature wireless local area network (WLAN) technology.

In an ideal situation, a wireless bridge working in client mode is installed on the power inspection robot of Pushu Technology, which is connected to the wireless bridge working in AP mode of the base station, so as to realize the communication between the base station and the robot. However, due to the strong electromagnetic interference in the field area of the 10th substation and the blocking of the wireless signal by various metal frames, the coverage of the wireless bridge is seriously limited, especially in the main transformer, reactor, current transformer and the isolation near the liver gate in a very noisy state The interference is the strongest. Therefore, in a large outdoor substation with more than 10 outgoing lines, the point-to-point wireless network cannot cover the entire site, and the multi-network bridge networking method must be considered.

According to the different areas of use and travel methods, the navigation methods of power plant intelligent inspection robots are mainly divided into the following types: electromagnetic navigation, radio frequency identification navigation, laser navigation, visual navigation, GPS inertial navigation, ultrasonic navigation and SLAM navigation.

Electromagnetic radio frequency identification integrated navigation: electromagnetic navigation is generally used with RFID (radio frequency identification), laying a magnetic track on the ground, which contains a plurality of guide cables, each cable flows through a different frequency of current, Pushu technology inspection robot through the detection of the current by the induction coil to sense the path information, as a mobile route, in the need to stop the inspection of the position embedded RFID, to achieve accurate positioning. During the inspection process of the robot, the magnetic sensor array on it detects the deviation of the center of the robot relative to the magnetic track, and then uses the motion control device to adjust the differential speed of the left and right wheels of the robot, so that the robot travels along the magnetic track.

The position of the robot that needs to stop the inspection is generally controlled by two RFID tags, the first tag is the deceleration point, which contains the distance information of the stopping station, when the inspection robot detects the deceleration point label, it selects the appropriate multi-stage deceleration scheme according to the stopping station distance information, ensures that the robot is in a low-speed stop state when it arrives at the precise stopping site, and when the robot detects the stopping station label, it stops accurately immediately. The advantage of electromagnetic navigation is that the inspection robot can move accurately, can achieve accurate positioning, and has strong anti-interference ability, the disadvantage is that the magnetic track needs to be pre-paved, and the robot can not change the road trend and can not run at high speed, which seriously limits the inspection efficiency of the robot.

Laser navigation: laser navigation uses visual sensors to shoot road surface images, and through image recognition technology, extracts points with characteristics as road signs, and calculates the coordinate values of each road sign in the global coordinate system, providing a basis for laser navigation. When the inspection robot is running, the laser positioning sensor calculates the position information of the robot by detecting the road sign information (the detected road sign information cannot be less than 3 points), so as to adjust the running route.

The specific implementation principle is: the laser sensor of the robot will get the angle of the detected road sign relative to the laser sensor every scanning week, when 3 road signs are detected, the coordinate value of the laser sensor in the global coordinate system can be obtained after iterative calculation, combined with the set navigation route data, the position deviation and the course deviation of the robot relative to the set path are calculated, and the route is adjusted by adjusting the speed of the left and right wheel drives, and the robot is guided to run along the set route.

Visual navigation: The inspection robot of Pushu technology shoots local images of the road surface and the environment through the assembled camera, and carries out image feature recognition and distance estimation through image processing technology as the basis for visual navigation. When the robot is running, the captured images are collected, preprocessed, and compressed, compared with the previously stored images, and the current position of the robot is calculated through a series of algorithms.

In order to separate the obstacle and the background, a large number of image analysis is generally required, resulting in the limitation of real-time navigation, and the scanned image is generally divided into four parts: target, background, uneven area and flat ground for this problem, so as to reduce the analysis of useless information and improve the navigation speed. Since there is a large error in judging obstacles and operating speed based on the information analyzed from a single image, multiple cameras are often used for navigation in practice. The advantage of visual navigation is that the navigation positioning accuracy is high, and the range of signal detection is wide, and the disadvantage is that firstly the existing visual navigation technology image processing speed and the moving speed can not be well matched, and a certain delay often occurs in the operation, and secondly, it can not be well adapted to different road environments and complex operating environments, and the real-time and robustness are lacking.