A review of indoor-orbital electrical inspection robots in substations

Dong, Lijun; Liang, J. Nellie; Li, Tingting; Yan, Zhanlin; Zhang, Bing

doi:10.1108/ir-06-2022-0162

Cited by 23 publications

(9 citation statements)

References 99 publications

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“…Automatic busbar detection from images can be conducted in (Chen et al, 2015). Mobile robots for electric power substation equipment's inspection was surveyed in (Allan and Beaudry, 2014;Lu et al, 2017;Dong et al, 2023). Automatic safety helmet detection for operators was achieved in (Li et al, 2017).…”

Section: Related Workmentioning

confidence: 99%

Attentive multi-scale aggregation based action recognition and its application in power substation operation training

Wu,

Ren,

Jiang

et al. 2023

Front. Energy Res.

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With the rapid development of the power system and increasing demand for intelligence, substation operation training has received more attention. Action recognition is a monitoring and analysis system based on computer vision and artificial intelligence technology that can automatically identify and track personnel actions in video frames. The system accurately identifies abnormal behaviors such as illegal operations and provides real-time feedback to trainers or surveillance systems. The commonly adopted strategy for action recognition is to first extract human skeletons from videos and then recognize the skeleton sequences. Although graph convolutional networks (GCN)-based skeleton-based recognition methods have achieved impressive performance, they operate in spatial dimensions and cannot accurately describe the dependence between different time intervals in the temporal dimension. Additionally, existing methods typically handle the temporal and spatial dimensions separately, lacking effective communication between them. To address these issues, we propose a skeleton-based method that aggregates convolutional information of different scales in the time dimension to form a new scale dimension. We also introduce a space-time-scale attention module that enables effective communication and weight generation between the three dimensions for prediction. Our proposed method is validated on public datasets NTU60 and NTU120, with experimental results verifying its effectiveness. For substation operation training, we built a real-time recognition system based on our proposed method. We collected over 400 videos for evaluation, including 5 categories of actions, and achieved an accuracy of over 98%.

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Section: Related Workmentioning

confidence: 99%

Attentive multi-scale aggregation based action recognition and its application in power substation operation training

Wu,

Ren,

Jiang

et al. 2023

Front. Energy Res.

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Section: Introductionmentioning

confidence: 99%

“…Examples (Allan, 2012) include Phase II/III of Kyushu Electric Power in Japan, TOMCAT of Electric Power Research Institute in the USA and ROBTET of Polytechnic University of Madrid, Spain. However, two hitherto unresolved challenges have been limiting the widespread application of power robots (Dong et al , 2023): the contradiction between the high load requirements and the dexterous operation brought by the tasks; and the incompatibility of teleoperation and autonomous operation. …”

Section: Introductionmentioning

confidence: 99%

Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working

Li,

Wang,

Chen

et al. 2024

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Purpose The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems. Design/methodology/approach The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization. Findings Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes. Practical implications The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks. Originality/value For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.

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“…UAV can carry out highprecision and high-efficiency inspection in complex environment. Due to the limited navigation space and vision of UAV, it is easy to have blind spots in inspection, which affects the comprehensiveness and accuracy of inspection [1][2][3]. In the process of substation inspection, the inspection equipment includes transformers, high-voltage equipment, low-voltage equipment, low-voltage equipment, grounding devices, lightning arresters, downlead, pole-Tara lines, cable trench crossings and cable heads.…”

Section: Introductionmentioning

confidence: 99%

No blind spot three-dimensional trajectory planning of unmanned aerial vehicle for substation inspection based on digital twinning

Zhang,

Li,

Liu

et al. 2024

Eighth International Conference on Energy System, Electricity, and Power (ESEP 2023)

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The conventional three-dimensional route planning method for unmanned aerial vehicle (UAV) in substation inspection aims at full track coverage, and the distance to avoid obstacles is long, which affects the efficiency of substation inspection. Therefore, a blind spot-free three-dimensional trajectory planning method for unmanned aerial vehicle (UAV) in substation inspection based on digital twinning is designed. Determine the three-dimensional route cost of unmanned aerial vehicle (UAV) in substation inspection, classify the danger level of obstacles in the route, and judge whether the planned route meets the requirements of substation inspection. Based on digital twinning, a three-dimensional trajectory planning model of unmanned aerial vehicle (UAV) for substation inspection is constructed. According to the constraints of UAV, the location of substation inspection track points is optimized to avoid obstacles and find the optimal inspection path. The three-dimensional track escape force of patrol UAV is added to help UAV escape from the local minimum state, make UAV return to the track planning state, and eliminate the influence of blind spot of UAV track on substation patrol. The comparative experiments show that this method has higher planning value and can be applied to real life.

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A review of indoor-orbital electrical inspection robots in substations

Cited by 23 publications

References 99 publications

Attentive multi-scale aggregation based action recognition and its application in power substation operation training

Attentive multi-scale aggregation based action recognition and its application in power substation operation training

Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working

No blind spot three-dimensional trajectory planning of unmanned aerial vehicle for substation inspection based on digital twinning

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