高压开关柜局部放电检测机器人的开发与应用

目前开关柜局部放电检测只能依靠人工操作，存在工作量大、检测效率低、检测质量差等问题。为了解决上述问题，设计开发了一种可用于开关柜局部放电检测的机器人，该机器人以变电站巡检机器人为基础，安装了5个自由度的轻型机械臂，采用双目立体视觉技术实现检测位置的定位，可以携带多种传感器自主实现高压开关柜的局部放电检测。该机器人在济南美里湖变电站进行了试点应用，各项功能均达到了预期目标，具有工程实践意义。

Development and Application of Partial Discharge Detection Robot for High Voltage Switchgear

Partial discharge detection of switchgear can only depend on manual operation at present, which has many problems such as large workload, low detection efficiency and poor detection quality. Aiming at above-mentioned problems, a robot is developed for partial discharge detection of switchgears. Based on the substation inspection robot, the newly developed robot is installed with a 5-DOF manipulator, uses binocular stereo vision technology to locate the detection position, and can carry multi-type sensors for automatically detecting the partial discharge state of the switchgears. The robot has been applied in the Ji'nan Mei Li Lake substation, and the results show that all the functions of the robot have reached the expected goals. The robot is of great significance for engineering application.