Regarding the problems that multi-unit serial inspection robot based on parallelogram mechanism(PM) has more driving motors and larger structure size, a novel driving PM method with single motor and cables is proposed based on the kinetic characteristic of parallelogram. Comprehensively concerning the single motor driving method of PM, procedure of crossing obstacle and obstacle size, optimization design results of the robot mechanism parameters were solved out with multi-objective optimization algorithm. The comparison results demonstrate that the optimized robot has less driving motors and its size is reduced clearly.
A novel robot system is presented in this paper, which is used to climb the suspension insulator strings mounted on the overhead wire. Only two motors are enough for the robot to cross an insulator with the cable driving mechanism and the stretching platform in a worm-like form. The mobility and security of the robot are analyzed. The analysis results show that the robot is lighter, more compact and stable than others.
In this paper, A test bench system used in the test of UAV is put forward. The system is consisted of four parts which includes bearing part of UAV, ground support position, transmission mechanism and measuring weight parts. Bearing part of UAV is used for placing the object to be measured which is connected to one end of the drive mechanism through the connecting shaft, The other end of the drive mechanism is provided with a measuring weight part which is provided with a mass block, the drive mechanism is provided with a ground support seat. 3D model of all parts are built by proe, the virtual prototype and simulation model are established by ADAMS, the kinematics simulation is carried out, and the movement characteristics of each part are analyzed, and the simulation test results of the trajectory and the displacement curve are obtained. machining prototype is machined, result is got through experimental and theoretical data collation, which is accordant with theoretical analysis.
Unmanned aerial vehicle (in this paper, it is referred to as UAV) is widely used in the field of electric power emergency relief. The route planning time of traditional UAV emergency relief system is too long to deliver the disaster delay, and its inaccurate image feedback lead to blind command. In this paper, a fast high precision UAV power emergency relief system has been successfully designed, mainly including route map fast planning system, automatic high-precision UAV flight platform and ground monitoring command system. The route map fast planning system has been designed based on the C language, GIS Data development technology and image recognition technology. Automatic high-precision UAV flight platform mainly include UAV flight platform, multiple picture Video segmentation processor and camera fixed device. UAV route planning can be finished fast, nearly 60% of the planning map time has been saved than traditional UAV system.
X-ray digital imaging detection system has been successfully applied to visual non-destructive detecting of gas insulated switchgear (GIS) equipment. Manual installing and positioning of this system is risky, inefficient and labor-intensive. This paper presents a non-destructive detecting mobile platform which is used to carry the detecting system to accomplish testing task. The requirements and the working process of this mobile platform are analyzed. The structure of two mobile manipulators which are included in this platform is presented. The kinematics model of manipulator is established correspondingly. Under the actual conditions, the rigid body dynamics is simulated by Solidworks Motion module, which provides references for structure design and motor selection. The non-destructive detecting mobile platform, which is introduced in this paper, has such advantages as high stability, high quality of detection and strong adaptability.
new device for hot-line sweeping of post insulators in substations is introduced. The installation is composed of a sweeping actuator, an insulated transmission mechanism, a steering mechanism, a hydraulic driving device, anti dropping device, hydraulic mechanical arm, telescopic arm and a moving chassis insulation.. And can complete the sweeping work of insulator under the condition of hot-line.
As the power source of robot, the temperature characteristics of the lithium-ion battery directly affect the robot working performance. The thermal characteristics of lithium-ion battery have been intensively studied through both temperature rise tests and the discharging tests, and the PTC thermal management system of power battery was designed to enhance the performance of robot. Battery surface heat distribution demonstrated that battery surface temperature difference was less than 0.5°C because of aluminum thermal conductivity, and the discharging test showed that the PTC thermal management system could heat the lithium-ion battery pack effectively, which could deliver a capacity of 47Ah at −20°C, about 93% at 20°C.
Stable power supply is the basic guarantee of residents' life and social production, the number of substations is constantly increasing with the development of the power industry in recent years. Now most of the substation inspection robot is used in outdoor environments domestically and overseas. With visible light and infrared equipment the substation inspection robot can identify the operation of substation equipment, such as knife gate opening or closing, instrument disc reading, and so on. This technology is very mature by now, the recognition rate is more than 90%. But in the substation, there are many other equipment is required for daily inspection, such as IGS equipment and electrical cabinet etc. and the ordinary substation inspection robot cannot complete the above-mentioned detection task. So some special substation inspection robot which can be made to inspect the IGS equipment and electrical cabinet needs more and more urgently.
For the monitoring of high-voltage-overhead-lines, automated robotic systems increasingly come to use. Regardless of whether this is set to linecrawler-technology or aerial platforms, Global Navigation Satellite Systems (GNSS) are used for navigation and geo-referencing on nearly all of these robotic systems. In order to test the function and quality of GNSS-receivers and -antennas at these environmental conditions with increased electric and magnetic field-strengths in a laboratory environment, in this contribution test-benches are designed to reproduce the field-strengths. Therefor potential interference-mechanisms are identified and defined, advantages and disadvantages of indoor-and outdoor-test-benches are balanced, a reference-transmission-line is defined, expectable field-strengths in the vicinity of the transmission-line are simulated and finally the test-geometries are determined.
A new method of digital number recognition for mechanical digital meters in substation is studied in this paper, which adopts linear SVM based on Histogram of Oriented Gradients (HOG) features. The grids of Histograms of Oriented Gradient descriptors significantly outperform for feature detection of the gray image which has more information than binary image. A new approach with segmentation of region of character image is proposed in this paper, which is important to the further HOG feature detection. SVM classifier is used in the recognition procession and result shows that HOG has better performance on digit classification in the substation inspection robot instrument recognition.
The Paper propose a processing method for LiDAR data in power line inspection tour. The classification of the point cloud with the data feature in the patrol is the first step. On this basis, using the geometric information of different types of point cloud in feature extraction and statistical analysis to obtain the cross-cutting and security risks information which is required by the power line patrol. Tests show that the method can effectively evaluate the security status of the transmission line.
Substation insulator strings which exposed to the outdoor environment need to be cleaned the industrial contamination and natural contamination regularly in order to prevent the flashover phenomenon that occurs in rain and fog and other inclement weather because of the accumulation of contamination and then cause power outages and other incidents. The Substation Charged Maintenance Robot is used for cleaning the substation equipment in 110kV-220kV AIS Substation. The vibration characteristics of the robot's chassis and operating platform cannot be ignored to ensure the accuracy of the job. Statics simulation analysis and modal analysis are conducted according to the job characteristics of the robot. Stress distribution of operating platform and low-order vibration frequencies and mode shapes of telescopic arms are obtained and then vibration control schemes are proposed based on the simulation results.
A parallel implementation of a surface reconstruction algorithm is presented. This algorithm uses the vector field surface representation and was adapted in a previous work by the authors to handle large scale environment reconstruction. Two parallel implementations with different memory requirements and processing speeds are described and compared. These parallel implementations increase the vector field computation speed by a factor of up to 31 times relative to a purely serial implementation. The method is demonstrated on different datasets captured on the sites of Hydro-Quebec using a variety of sensors: LiDAR, sonar and the WireScan, an underwater laser scanner designed at our laboratory.
The insulator strings in substation which are long time exposed in the outdoor environment are easily accumulation industrial and natural filth. So they need to be cleaned regularly to prevent the power outages and other incidents because of flashover phenomenon which occurs in the weather of rain and fog and other inclement weather. The substation equipment water washing robot with hot-line is employed in the substation to clean the insulator strings with the same method of artificial flushing. The theory of finite element analysis and modal analysis are based in this paper. The reliability and precision of robot's structural in the process of washing operation are ensured by stress distribution and deformation from the static analysis; The low order natural frequencies and mode shapes are carried out through modal analysis and a vibration control and optimization scheme is proposed to reduce the effects of vibration in the condition of the flushing operation, and the robot's stability can be improved.
This paper mainly introduced the research status of hydraulic wrench, the current hydraulic wrench is not suitable for single manual operation, it was mainly used to remove large size bolt, such as above M20. In order to adapt to the demands of the market development, and meet the requirements that one person can conveniently operate on some equipment, the small-sized hydraulic wrench was designed by us through the combinations of "hydraulic motor + reducer + impactor" in this paper. As the emergence of the small-sized hydraulic wrench, which can reduce the workers labor intensity and improve the work efficiency.
This paper proposes a novel, laser-based localization method for the autonomous mobile robot in transformer substations. Iterative closet point (ICP) algorithm has been widely used in current laser localization system for locating the mobile robot. However, after initialization, current localization system cannot finish positioning without human assistance. There is a growing interest in finding an effective way to improve the stability and correctness of laser system. We describe a method that combines the pattern recognition with laser localization system. Robot positioning in feature map is to search the relative distance and orientation to landmarks.
This paper gives an instruction of the robotics applied for power industry in China. Firstly, it is the instruction of the actuality of the electric power industry in China. And we introduce the robotics applied in the field of the power generator, for different application requirements, include generator detection robot, robot in nuclear power station and for the hydropower station detection. Then robotics for overhead transmission line detection and maintenance was been shown. The substation patrol robotics has implemented widespread in most province electric power companies in China. live working robot for the distributing line maintenance have been in some filed application. As the big market, more robots will applied for the electronic power industry, with the development of the robotics and the new work mode of people and robot.
In this paper, we design and implement a remote control terminal for the substation operation robot. The general layout and design ideas of the system are analyzed. Experimental results show that the operator can easily control the mobile robot through the remote terminal, the remote terminal system is friendly, the function is reliable, and the function is strong. The next step is to evaluate the operator's operations, mainly focus on improving the portable performance of remote control terminal and pleasant operation to carry out research work. Further modular, lightweight design to improve its portability. At the same time, the operation of the man-machine interface is simpler and clear, easy to use without the experience of the operator, by further simplifying the difficulty of remote control of the robot, so as to improve the safety and reliability of the substation operation robot.
Under the background of the development of intelligent grid and the revolution of operating mode, including intensive management of human, financial, material resources and a system consisting of the implements of major plan, construction, operation, inspection and marketing, an intelligent inspection system based on GIS concentrated control, massive image recognition, defect diagnosis, centralized monitoring and distributed database cluster technology of UAV for the transmission lines is exploited, by facing the challenges and risks for the safe operation of the extra /ultra-high voltage transmission lines. In the power transmission line inspection application proves that it provides a new and efficient centralized control and data processing, enhance the coordination of UAV inspection unit with the ability and rational allocation of inspection resources security, and enhanced the information and automation of UAV inspection control of the whole process.
The size of the substation is constantly expanding with the development of electric power industry. The substation equipments which are long-term exposure to the outdoor affected by natural and industrial contamination are easily caused the flashover phenomenon. The substation equipment water washing robot with hot-line is used to water cleaning operations carried out on the post insulators in substation. Kinematics performance of the robot should not be ignored in order to make it moving freely in the substation and move to the job position safely and stably. Kinematics analysis and simulation of the substation equipment water washing robot with hot-line are conducted in the process of flat walking and climbing by using virtual prototype technology based on the method of multi-body kinematics and Lagrange multiplier. The changing curve of robot's gravity center under different road conditions and the motion state of the robot in the process of climbing are all obtained. Improvements and optimization have been done according to the calculation results.
