Mobile Robot for Power Substation Inspection: A Survey
Mobile Robot for Power Substation Inspection: A Survey
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DOI：
10.1109/jas.2017.7510364
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发表时间：
2017-10-01
影响因子：
11.8
通讯作者：
Su, Jian-Jun
中科院分区：
文献类型：
--
作者：
Lu, Shou-Yin;Zhang, Ying;Su, Jian-Jun
本文介绍了移动机器人在变电设备检测领域取得的最重要成果。为了加快实现变电站无人值班，提高变电站的可靠性、安全性和智能化，变电站设备自动化检测领域在近十年来得到了很大的发展。本文从移动机器人的发展历史、设计要求、机器人系统结构分析与建模、机器人的可靠性技术、变电设备巡检的自主性和通用性等方面论述了变电巡检机器人的研究现状。此外，对巡检机器人的发展和研究趋势进行了总结，并提出了今后需要解决的问题。本文的工作可为某些复杂危险作业环境下机器人的初步设计提供参考。本文为巡检机器人提供了一些独到的见解，有助于电力设施巡检的进一步研究和应用。
This paper presents the most important achievements in the field of electric power substation equipment's inspection by mobile robot. To accelerate the realization of unattended substation, which would improve the reliability, safety and intelligence of power substation, the field of automated power substation equipment's inspection has been greatly developed over the last decade. The paper addresses the power substation inspection robot, which is considered as one of the most active fields of research on mobile robot, from its history to design requirements, the robot system architecture analysis and modeling, reliability technology of the robot, autonomy and universality of substation equipment inspection. Besides, summaries and suggestions on the development and research trend of inspection robot, which should be addressed in the future, are given. The present work may serve as reference for initial design of robots for some complex and dangerous working environments. And some unique insights for the inspection robot provided in this paper may be of help to further research and application of power facilities inspection.