Computer Science ›› 2017, Vol. 44 ›› Issue (Z11): 592-595.doi: 10.11896/j.issn.1002-137X.2017.11A.127

Previous Articles     Next Articles

Robot System for GIS Foreign Body Clean and Cavity Detection

MA Fei-yue, YOU Hong, DIAN Song-yi, YANG Jia-yong, PENG Xin-zhi, WANG Bo and DING Pei   

  • Online:2018-12-01 Published:2018-12-01

Abstract: In view of the problem that the existing GIS pipeline detection method can not take into account the foreign matter cleaning,a robot system based on Edison Inter platform for the detection and cleaning was presented.The design of robot system was introduced in detail from aspects of hardware,kinematic model and human computer interaction platform.On the hardware,a highly integrated processor Edison Inter is used as the center to connect the modularized design during the hardware development.On the human-computer interaction platform,based on the Android development platform,the function of the 3D dynamic display,motion process control,robot attitude control have been in plemented in realtime implemented.The test shows that the robot is unque,smooth running in the GIS pipeline. The robot can achieve the displalement of about 20 degress.The camera has no dead corners.The video pictures of human-compu-ter interaction is clear.The whole system can satisfy the requirement of detection and cleaning.

Key words: GIS detecting and cleaning robot,Modular design,Inter Edison processor,Andriod platform

[1] 丁登伟,唐诚,高文胜,等.GIS中典型局部放电的频谱特征及传播特性[J].高电压技术,2014,40(10):3243-3251.
[2] 孙曙光,陆俭国,俞慧忠,等.基于超高频法的典型GIS局部放电检测[J].高压电器,2012,48(4):7-12.
[3] 齐波,李成榕,耿弼博,等.GIS设备绝缘子高压电机故障局部放电严重程度的诊断与评估[J].高电压技术,2011,37(7):1719-1727.
[4] 齐波,李成榕,骆立实,等.GIS中局部放电与气体分解产物关系的试验[J].高电压技术,2010,36(4):957-963.
[5] 骆立实,姚文军,王军,等.用于GIS局部放电诊断的SF6分解气体研究[J].电网技术,2010,34(5):225-230.
[6] 王卫东,赵现平,王达达,等.GIS局部放电检测方法的分析研究[J].高压电器,2012,48(8):13-17.
[7] 曾雄杰,刘旭明.GIS设备局放类型图谱以及现场局放测试诊断图谱的应用[J].高压电器,2013,49(11):31-36.
[8] 孙强,董明,任重,等.现场用GIS冲击耐压试验及局部放电检测装置设计[J].高电压技术,2012,38(3):639-644.
[9] 乔胜亚,周文俊,唐念,等.不同吸附剂对GIS局部放电特征气体变化规律的影响[J].电工技术学报,2016,31(3):113-120.
[10] 闫斌,何喜梅,吴童生,等.GIS设备X射线可视化检测技术[J].中国电力,2010,43(7):44-47.
[11] 吴章勤,魏杰,况华,等.GIS的X射线数字成像检测[J].无损检测,2013,35(1):11-12.
[12] 姜芸,付庄.一种小型电缆隧道检测机器人设计[J].华东电力,2009,37(1):95-97.
[13] 曹建树,林立,李杨,等.油气管道机器人技术研发进展[J].油气储运,2013,32(1):1-7.

No related articles found!
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!