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Abstract: Electricity inspection robots are mainly used in outdoor substations, not for inspection by inspection personnel. The robot system can carry detection equipment related to power station equipment such as an infrared thermal imager and a visible light CCD. Through independent remote control, the outdoor high-voltage equipment can be inspected and thermal defects of power equipment can be found in time. Provide relevant numbers for operators to diagnose possible accidents and failure precursors in the operation of electrical equipment
Electric power inspection robots are mainly used for outdoor substations, not for inspection by inspectors. The robot system can carry detection equipment related to power station equipment such as an infrared thermal imager and a visible light CCD. Through independent remote control, the outdoor high-voltage equipment can be inspected and thermal defects of power equipment can be found in time. Provide relevant data for operators to diagnose possible accidents and failure precursors in the operation of power equipment. The robot system can partially replace the operator to perform equipment inspection at a specific time. The robot system does not require the operator's involvement, it can be inspected along a fixed route and automatically return to the starting point. At the same time, an inspection report is generated. Since the intelligent inspection robot of a substation of Changzhi Company was put into operation in 2011, the expected results have been achieved. The working mode of the intelligent robot includes visible light detection, infrared detection and all-round detection. It can control the operation of intelligent robots at the base station system level. Visible light detection is mainly daylight, infrared detection is mainly nighttime, all detection is mainly for the actual test needs to perform visible light and infrared detection at the same time. The setting of the operation mode not only effectively reduces the power consumption of the robot and increases the robot's use time, but also protects the infrared camera and other equipment under strong light, which prolongs the service life of the equipment.
Electric power inspection robots need to detect the working status of substation equipment all day, and the images collected by the robots are often affected by the environment. This limits the use of commonly used foreign object detection algorithms, such as background modeling or frame difference methods. It is necessary to develop an effective foreign object detection algorithm for substation inspection robots. At present, when inspecting the working status of various equipment, substation inspection robots register with the real-time image of the equipment to be detected and the template image of the equipment, and mark the area of the equipment to be detected in the collected images in order to accurately identify the equipment status. Based on this working mode, a foreign object detection algorithm for an intelligent substation inspection robot is proposed. First, according to the template image acquisition method of the inspection robot, standard image acquisition is performed in the equipment area where foreign objects are easy to hang or areas where foreign objects must be strictly prevented from entering, and the template image database of the equipment area to be inspected is established. Then, when the robot performs a patrol task, it stops at a specified position in front of the device under test according to the task instruction, and acquires a real-time image according to the shooting angle and focal length of the template image of the same device.
From the perspective of the safety of the power inspection robot system, operators mainly inspect field equipment through the senses or instruments such as observation, touch, listening, and sniffing, and compare with the accumulated experience to determine its operating status. The effectiveness of the test is related to the professional quality, attitude and working status of the inspectors. Using intelligent detection robots can avoid the personnel industry. Uncertain factors such as service quality, working conditions, and inconsistent working conditions have greatly improved the reliability of substation safe operation. The application of the intelligent robot detection system can improve the actual effect of substation operation and maintenance management, reduce labor costs, improve personnel work efficiency, and ensure the safe and stable operation of the power grid. Through the introduction of high-tech testing robot systems, the establishment of a detailed and effective specification system, the establishment of a good operation and maintenance management mode, liberation of manpower, and automation of simple human operations. Industry transfer, improving the efficiency of substation equipment operation and maintenance, greatly reducing the company's operation and maintenance costs, realizing the operation and maintenance effectiveness of unattended management mode, and improving the safety level of equipment and power grids.