Automating Substation Inspection: How Robotics Enhance Reliability and Reduce Costs Amina substanshi na ƙarin daɗi: Yadda robotics yana haifar da shirya da kuma ƙara gurbin abubuwa

1. Nàfi'ar Gargajiya da Yakin R&D​

Daga yakin fasahar tattalin arziki da kuma fanonin tattalin arzikin sana'a, ya ƙara tsarin tattalin arziki na gaban masu shirya. Ana yi amfani da yanayin "Babu Masu Tabbataki" ko "Yawan Masu Tabbataki" a cikin yanayi. Yanzu, ana yi amfani da funksiyoyin "Nafar Duk Arewa" (Telemetry, Telesignaling, Telecontrol, Teleregulation) da kuma sassan SCADA don bincike alamomin yanayi. Amma, wannan hanyar ba zai iya bayarwa kan samun yadda ake faruwa masu shirya a lokacin (kamar hanyar fina-finai, faren noma, abubuwa mai zurfi, etc.).

Yanayin da ake yi a yanzu ta da muhimmanci: idan yake faruwa a cikin yanayi, manufaritoci suna buƙata masu tabbataki suka zama don zuwa wurin, kuma kuma suna ƙunshi ingantaccen gyara. Wannan prosesi ya ƙara tsakanin lokaci na gyara, wanda ya haɗa da kyau a gaban tattalin arziki da kuma kyakkyawar ƙananan. Kuma, babban yadda ake yi a matsayin yanayin da ake bi da sauran birnin, ba ta iya bayarwa kan samun ƙwarewa da kuma ƙaramin alamomin yanayi, saboda hanyar da ake bi da sauran birnin ba ta iya haɗa da jami'an ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ya ƙara tsakanin lokaci da kuma kyakkyawar ƙananan.

​2. Tsarin Dukkan Yanayin Robot​

Wannan yanayi ta yi amfani da tsarin "Asasen Yanayi - Mai Gyara" don bayarwa kan samun ƙwarewa da kuma ƙaramin alamomin yanayi.

​2.1 Asasen Yanayi​

Asasen yanayi ta shiga asasen yanayi a cikin mafi girman yanayin ƙwarewa, wanda ta zama asasen yanayin ƙwarewa da kuma ƙaramin alamomin yanayi.

​2.2 Yanayin Mai Gyara (Jiki na Robot)​​

Yanayin mai gyara ta yi amfani da intelligent terminal don bayarwa kan samun ƙwarewa, ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.

• ​Tsarin Chassis Mai Gyara:​​ Ta yi amfani da tsarin duka differential drive. Duka biyu na farko suna da motor biyu, kuma suna da motor biyu, wanda ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi; duka biyu na ƙarshe ne caster wheels. Wannan tsari ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.
• ​Subsystem na Motion Control:​​ Babbar baka na hardware ta PC104 mainboard, da PCL-839 motion control card da kuma motor drivers. Wannan subsystem ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.
• ​Subsystem na Task Execution:​​ Ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi. Funksiyonon mafi muhimmiyar sun hada da:
• ​Data Acquisition:​​ Ta yi amfani da CCD camera, infrared thermal imager, da kuma high-performance directional microphone (MEMS) don bayarwa kan samun ƙwarewa da kuma ƙaramin alamomin yanayi.
• ​Automatic Charging:​​ Ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.

​3. Tekunologijin Mafi Muhimmiya da Fadadin Kwamfyuta​

​3.1 Tekunologi na Intelligent Real-time Path Planning​

• ​Global Path Planning:​​ Ta yi amfani da substation electronic map, ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.
• ​Local Path Planning:​​
• ​Obstacle Avoidance:​​ Ta yi amfani da VFF (Virtual Force Field Histogram) algorithm, da kuma sensor data like LiDAR, ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.
• ​Line Tracking:​​ Ta yi amfani da classic PID control algorithm, ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.
• ​Environmental Adaptation:​​ Ta yi amfani da EM algorithm da clustering algorithms, ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi, kuma ta ƙara tsakanin lokaci da kuma kyakkyawar ƙananan, kuma ta ƙara tsarin ƙwarewa da kuma ƙaramin alamomin yanayi.

​3.2 Multi-Modal Equipment Detection and Diagnosis System​

1. ​Remote Infrared Monitoring and Diagnosis System​
• ​Configuration:​​ Online infrared thermal imager, includes image acquisition, processing, display, storage, and report generation modules.
• ​Functions:​​ Automatically detects equipment surface temperature, compares it with preset thresholds, and triggers audible/visual alarms immediately upon detecting abnormalities; can generate equipment temperature gradient maps, temperature-time curves, etc., to assist in fault analysis; uses image compression technology to support simultaneous monitoring of real-time infrared feeds from multiple substations at the dispatch center.
2. ​Remote Image Monitoring and Diagnosis System​
• ​Configuration:​​ Visible-light CCD camera and video server.
• ​Functions:​​ The base station system performs intelligent analysis (e.g., difference image analysis, correlation analysis) on the returned visible-light images to automatically identify the appearance status of power equipment and instrument readings. Normally, it automatically switches monitoring points; it only stores images and triggers alarms when anomalies are detected, significantly improving channel utilization and monitoring effectiveness.
3. ​Remote Sound Monitoring and Diagnosis System​
• ​Configuration:​​ High-performance directional MEMS microphone.
• ​Functions:​​ Collects equipment operating noise in real-time, compresses it, and transmits it back. The system intelligently assesses the operating status and anomaly types (e.g., loosening, discharge) of equipment like transformers by comparing real-time noise with historical normal data, and provides an interactive interface for maintenance personnel to query and analyze.
4. ​Moving Object Intrusion Detection and Alarm System​
• ​Principle:​​ Based on video stream moving target detection algorithms, automatically identifies and extracts areas in the video containing objects moving relative to the background.
• ​Functions:​​ Once an abnormal moving target, such as illegal intrusion, is detected, the system immediately triggers an alarm and saves on-site images, providing evidence for security追溯, enabling true unattended security monitoring.

​4. Field Operation and Application Results​

​Core Application Value:​​ This robot system innovatively integrates "non-contact mobile detection" with the existing "contact-based fixed monitoring" in substations, forming a comprehensive monitoring system that covers both space and status, effectively compensating for the shortcomings of traditional inspection models.

​Operational Results:​​

• ​Significantly Enhanced Safety and Reliability:​​ Capable of promptly detecting potential faults such as thermal defects, surface foreign objects, oil leaks, and sound abnormalities in equipment, eliminating accidents in their infancy.
• ​Improved Operation and Maintenance Efficiency:​​ Replaces manual repetitive and tedious routine inspections, and provides dispatchers with real-time and accurate feedback on site conditions, offering crucial data support for emergency decision-making, substantially reducing fault handling time.
• ​Reduced Operational Costs:​​ Serves as key technological equipment for realizing the "unattended" substation model, helping power utilities optimize human resource allocation and reduce long-term operational costs.