变电站机器人智能巡检系统设计及应用

研发了一套变电站机器人智能巡检系统，从机器人本体、充电系统、无线传输系统、本地监控后台和环境适应性等方面介绍了巡检系统设计方案和各组成部分的关键技术。从现场勘查、设备安装、巡检规划和巡检应用等方面介绍了工程实施步骤和在电网220 kV、500 kV变电站的实际应用情况。分析了机器人巡检调试过程中存在的行进时出轨、无线通信不稳定、表计读取不准确、行走转弯卡涩等问题，并提出了解决措施。该巡检系统具有部署快速、适应性强、采集数据准确、定位精度高、超声防撞等显著优点，各项性能指标均满足变电站智能巡检需求，具有良好的推广应用前景。

Design and Application of Robot Inspection System in Substation

This paper develops a robot intelligent inspection system for substations, and presents the design scheme and key technologies of the inspection system in terms of the robot body, charging system, wireless transmission system, local monitoring background and the environment adaptability. An introduction is made to the engineering implementation steps of the system in terms of site investigation, equipment installation, and inspection planning and application, and its practical applications in 220 kV and 500 kV substations. At the same time, the paper also presents the problems in the process of robot inspection and debugging, such as the derailment during travelling, unstable wireless communication, inaccurate meter reading, and difficult turning around the corner, and proposes corresponding solutions. With such significant advantages as quick deployment, strong adaptability, accurate data collection, high positioning accuracy, and ultrasonic anti-collision, this system can meet the requirements of substation intelligent inspection in all functions and has good application prospects.