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Traditionally, insulator was cleaned manually which is high-risk, labor-intensive and low efficiency. In addition, it is impact of supply to clean insulator manually. Aim of solving the problem upon, a robot was designed for cleaning insulator which can make the clean work consistent and more reliable, and it can be operated at the highest voltage level of 345kV live-line. In this paper, mechanical...
Substation inspection has already benefited from developments in mobile robotics. Since 2002, over 10 substation inspection robots have been developed at Shandong Electric Power Institute. These robots carry visible light cameras and infrared thermographs which are used to detect invaders and equipments fault respectively. They move inside the substation and position for collecting images of possible...
This paper describes the improvements of LineROVer, a mobile robot for de-icing of overhead transmission lines. A low-voltage DC motor and a Lithiumion battery are used which increase the duration time without increasing the weight of the robot. A wireless transmission module that can be expanded arbitrarily with bidirectional transmission is applied. The electrical control box and battery are specially...
This paper presents a new GPS and DR integration based navigation system for mobile robots in substation environments for inspection. An adaptive federated Kalman filtering algorithm is put forward to realize information fusion. Experiments have also been carried out to verify the functionalities of the system.
This paper presents a new omni-directional vision based navigation system for mobile robots in substation environments for 24h all-weather inspection. It is featured with near infrared illumination, omni-directional imaging, and artificial landmarks recognition. The extended Kalman filter (EKF) is also used to integrate the measurements from vision and odometer. Experiments have also been carried...
Simultaneous localization and mapping (SLAM) problem has caused wide concern in the robotics research. The active SLAM algorithm based on extended Kalman filter (EKF) is considered as an important method. To validate and analyze the active SLAM algorithm performance, a simulation system is designed and developed, which makes use of the MATLAB platform as computation engine and properly displays the...
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