Abstract
With the dramatically increasing number of substations, the robots are expected to inspect equipment in power industry. This paper presents a task-oriented robot for inspection in power substation. The patrol mode of the robot comprises teleoperation, regular inspection, special inspection and a key return mode. The robot only relies on a low-cost magnetic sensor for lateral positioning and radio frequency identification (RFID) technology for longitudinal positioning when working under patrol mode. The positioning error is proven to be within 5 mm, comparing 20 cm by integrated GPS-DR navigation. The test result shows that the robot could work efficiently and reliably in power substation.
This work has been partially supported by China North Vehicle Research Institute and Xi’an JinPower Electric Co., Ltd under contract number 03-72.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Li, S., Hou, X.: Research on the AGV based robot system used in substation inspection. In: Proceedings of the International Conference on Power System Technology, Chongqing, China, pp. 1–4 (2006)
Parker, L., Draper, L.: Robotics applications in maintenance and repair. In: Nof, S. (ed.) Handbook of Industrial Robotics, 2nd edn, pp. 1023–1036. Wiley, New York (1999)
Aracil, R., Ferre, M., Hernando, M., Pinto, E., Sebastian, J.M.: Telerobotic system for live power lines maintenance: ROBTET. Control Eng. Pract. 10(11), 1271–1281 (2002). ELSEVIER Press
Allan, J.F., Lambert, G., Lavoie, S., Reiher, S.: Development of a mobile robotic platform for the underground distribution lines. In: Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi’an, China, pp. 406–411, 2–5 July 2008
He, H.Y., Yao, J.G., Jiang, Z.L., Wang, X.X., Li, W.W.: Infrared thermal image detecting of high voltage insulator contamination grades based on support vector machine. In: Li, D., Dong, Z., Yan, H., Yuan, J. (eds.) Automation of Electric Power Systems, vol. 29, pp. 70–74 (2005)
Lu, S.Y., Li, Y.P., Zhang, T.: Design and implement of control system for power substation equipment inspection robot. In: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, pp. 93–96, 11–15 October 2009
Guo, R., Han, L., Cheng, X.Q.: Omni-directional vision for robot navigation in substation environments. In: Proceedings of the 2009 IEEE International Conference on Robotics and Biominetics, Guiling, China, pp. 1272–1275, 19–23 December 2009
Guo, R., Xiao, P., Han, L., Cheng, X.Q.: GPS and DR integration for robot navigation in substation environments. In: Proceedings of the 2010 IEEE International Conference on Information and Automation, Harbin, China, pp. 2009–2012, 20–23 June 2010
Zhang, H.J., Su, B., Song, H.P., Xiong, W.: Development and implement of an inspection robot for power substation. In: Proceedings of the 2015 IEEE Intelligent Vehicles Symposium, Seol, Korea, pp. 121–125, 28 June – 1 July 2015
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing AG
About this paper
Cite this paper
Zhang, H., Su, B., Su, Z. (2016). Design and Implementation of a Task-Oriented Robot for Power Substation. In: Agah, A., Cabibihan, JJ., Howard, A., Salichs, M., He, H. (eds) Social Robotics. ICSR 2016. Lecture Notes in Computer Science(), vol 9979. Springer, Cham. https://doi.org/10.1007/978-3-319-47437-3_73
Download citation
DOI: https://doi.org/10.1007/978-3-319-47437-3_73
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-47436-6
Online ISBN: 978-3-319-47437-3
eBook Packages: Computer ScienceComputer Science (R0)