移动机器人在高压变电站中的应用  

Application of Mobile Robot in High Voltage Substation

作　　者：鲁守银[1] 张营[1] 李建祥[2,3] 慕世友[4,3] 

机构地区：[1]山东建筑大学机器人技术与智能系统研究院,济南250101 [2]山东鲁能智能技术有公司,济南250101 [3]国家电网公司电力机器人重点实验室,济南250101 [4]国网山东省电力公司电力科学研究院,济南250002

出　　处：《高电压技术》2017年第1期276-284,共9页High Voltage Engineering

基　　金：国家高技术研究发展计划(863计划)(2012AA041506);国家自然科学基金(6140021031);山东省科学技术发展计划资助项目(2014GGX103002)~~

摘　　要：为了更好地促进变电站巡检机器人在变电站中的应用推广,推进变电站无人值守进程,在详细分析了变电站设备巡检的现场需求基础上,提出了一种变电站设备巡检机器人分层混合式体系结构,并设计了适用于变电站环境的精确导航定位系统、可靠的电源管理系统和通讯系统。同时,对变电站设备热缺陷及外观异常精确识别和声音异常诊断的检测系统进行了设计,并对巡检机器人的可靠性、安全性、可行性进行了现场验证。结果表明:变电站巡检机器人可以更好地适应复杂非结构化的变电站环境,实现较精确的自主定位导航,并具备长时间的能源保障和可靠安全的通讯功能,解决了变电站设备精准识别、检测及和后台分析诊断实现问题,保证了巡检机器人安全稳定的在线监测作业,满足变电站设备现场巡检的需求。最后给出了巡检机器人下一阶段研究的几点建议。In order to promote the application of substation inspection robots in the substation and the process of the unmanned substation, we put forward a layered hybrid architecture of power substation inspection robot by analyzing the requirements of the substation equipment inspection in detail. Moreover, the precise navigation positioning system, relia- ble power management system, and communication system are designed to fit the substation environment. At the same time, the detection system which can accurately identify the thermal defect and abnormal appearance and evaluate the sound anomaly of substation equipment is also designed. Then the reliability, safety, and feasibility of inspection robot are verified by the practical application. It is concluded that the power substation equipment inspection can adapt the complex unstructured substation equipment better, and the autonomous positioning navigation is achieved precisely with long-term energy security and reliable security communications. Therefore, the implementation issues of substation equipment＇s ac- curate recognition, inspection and the background analysis and diagnosis can be solved. The security and stability of the inspection robot should be ensured to perform the online monitoring tasks, which can meet the demands of inspecting substation equipment. Finally, some suggestions on the development trend and research of inspection robot are given.

关 键 词：变电站 巡检机器人 自主行为 导航定位 设备检测 故障诊断分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM63[自动化与计算机技术—控制科学与工程]