Design and Collaborative Operation of Multimobile Inspection Robots in Smart Microgrids

Chen, Nankai; Wang, Yaonan

doi:10.1155/2021/6695688

Cited by 9 publications

(4 citation statements)

References 30 publications

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“…The system can automatically record the data and operation data of the patrol robot in the process of patrol inspection and can also automatically identify the instrument readings and alarm abnormal data. The system is divided into robot management, motion mode control, image processing, database management, and patrol log, which can save some human resources and improve the troubleshooting ability of abnormal equipment [15]. The monitoring system of substation inspection robot shall also meet the image quality requirements of video transmission to ensure that remote personnel can clearly identify the target image [16].…”

Section: Literature Reviewmentioning

confidence: 99%

Working Condition Monitoring System of Substation Robot Based on Video Monitoring

Zhao

2022

Wireless Communications and Mobile Computing

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In order to realize intelligent video surveillance of substation, this paper presents a substation robot working state monitoring system based on video surveillance. In this paper, the intelligent monitoring system of substation robot working state is constructed by combining virtual reality technology. Through the cooperation of each unit in the system, the real-time monitoring of substation robot working state and the early warning of abnormal working state are realized. The system can transmit video data at a high frame rate to ensure the timeliness of video data transmission and clearly and smoothly present the virtual scene of substation robot work. It can realize the high-precision positioning measurement of the robot under different distances and speeds, obtain the working dynamic trajectory of the robot according to the measurement results, analyze its working state, and give an early warning in case of abnormal working state, so as to achieve the purpose of intelligently monitoring the working state of the substation robot. The experimental results show that each group of video data transmission frame rate of the system can reach 29 f/s and is relatively stable. The average transmission frame rate is 30.62 f/s. The video transmission frame rate is high, which can ensure the timeliness of video transmission. Conclusion. The designed substation intelligent video monitoring system has good output stability and reliability.

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Section: Literature Reviewmentioning

confidence: 99%

Working Condition Monitoring System of Substation Robot Based on Video Monitoring

Zhao

2022

Wireless Communications and Mobile Computing

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“…In the inspection of lightning arrester, check whether the lightning rod is damaged, deformed and corroded, as well as the current and voltage operation state of lightning arrester. In the inspection of down lead, check whether its appearance is intact, whether it is damaged, deformed and rusted, and whether the down lead is firmly connected [7][8][9]. In the inspection of the pole-Tara line, check whether the ground anchor is damaged, deformed and corroded, and whether the tension of the stay wire is appropriate.…”

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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“…As the world is continuously becoming over-dependent on electricity, any power transmission failure could cause a catastrophic impact on people’s livelihood, including national security, health system, education, and economy. Thus, to ensure stable and reliable electricity transmission from the generation stations to consumers, the power line cables and its supporting equipment need to be routinely monitored for early fault detection and maintenance ( Chen and Wang, 2021 ; Chen et al, 2021 ). Effective identification and localization of faults on the power line system are crucial as they significantly minimize the maintenance cost and avoid unnecessary power outages.…”

Section: Introductionmentioning

confidence: 99%

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

et al. 2022

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Intelligent robotic inspection of power transmission lines has proved to be an excellent alternative to the traditional manual inspection methods, which are often tedious, expensive, and dangerous. However, to achieve effective automation of the robots under different working environments, the dynamic analysis and control of the robots need to be investigated for an efficient inspection process. Nonetheless, the application of control techniques for the position, speed and vibration control of these robots has not been explored in detail by the existing literature. Thus, an approach for precise motion control of the sliding inspection robot is presented in this paper. The main contribution of the study is that the chattering problem associated with the traditional command shaping time delay control (TDC) was minimized by smoothing the chattered input signal. Then, the improved control (iTDC) which is effective for oscillation control is hybridized with a pole placement based feedback control (PPC) to achieve both position and the sway angle control of the robot. The nonlinear and the linearized models of the sliding robot were established for the control design and analysis. Three parameters of the robot, namely, the length of the suspended arm, the mass of the payload, and the friction coefficient of different surfaces, were used to assess the robustness of the controller to model uncertainties. The iTDC + PPC has improved the velocity of TDC by 201% and minimizes the angular oscillation of PPC by 209%. Thus, the results demonstrate that the hybridized iTDC + PPC approach could be effectively applied for precise motion control of the sliding inspection robot.

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Design and Collaborative Operation of Multimobile Inspection Robots in Smart Microgrids

Cited by 9 publications

References 30 publications

Working Condition Monitoring System of Substation Robot Based on Video Monitoring

Working Condition Monitoring System of Substation Robot Based on Video Monitoring

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

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

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