变电站设备巡检机器人的研制  

Development of a Mobile Robot for Substation Equipment Inspection

作　　者：鲁守银[1] 钱庆林 张斌[1] 王明瑞[1] 李向东[1] 王宏[3] 

机构地区：[1]山东电力研究院鲁能智能公司,山东省济南市250002 [2]山东电力超高压公司,山东省济南市250021 [3]清华大学智能技术与系统国家重点实验室,北京市100084

出　　处：《电力系统自动化》2006年第13期94-98,共5页Automation of Electric Power Systems

基　　金：中国高技术研究发展计划(863计划)资助项目(2002AA420110-3)。~~

摘　　要：介绍了一种基于移动机器人的变电站设备巡检系统。该系统能够以自主或遥控的方式,在无人值守或少人值守的变电站对室外高压设备进行巡检,及时发现电力设备的热缺陷、异物悬挂等设备异常现象。文中介绍了变电站设备巡检机器人系统的总体结构,以及在该机器人移动平台上搭栽的变电站设备检测系统,并给出了基于可见光电荷耦合器件(CCD)摄像机、远程红外热成像摄像机和高性能定向传声器(MIC)等传感器的变电站设备的图像巡检、设备仪表的自动识别、一次设备的红外检测以及移动物体侦测等功能模块的实现。现场工业运行表明,该机器人系统的非接触式移动检测与变电站综合自动化的接触式监控结合,可以真正形成全监控方式,大大提高变电站设备运行的安全可靠性。A kind of substation equipment mobile inspection system based on mobile robot is introduced to help operators find equipment abn＇ormity such as surface and overheat defectiveness by remote or autonomous control. The overall structure of mobile robot system and the substation equipment inspection system on the robot platform are described. The implementation of primary equipment visible and infrared image inspection, meters auto-examination and mobile object detection by using sensors such as visible and infrared light CCD camera, high performance directional mic is given. The industrial operation of the system shows that the combination of the non-contact mobile inspection mode of the robot system with the contact mode of the substation automatic system can form a kind of full monitor system for the substation to greatly improve the safety and reliability of the substation operation. This work is supported by National High Technology Research and Development Program of China （No. 2002AA420110-3）.

关 键 词：设备巡检 移动机器人 红外检测 变电站 

分 类 号：TM76[电气工程—电力系统及自动化]