升压站挂轨式巡检机器人系统研究

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中图分类号：TP242 文献标志码：B 文章编号：1671-5276（2025）03-0216-06

Research on Rail-mounted Inspection Robot System in Substation

YANG Tian，LI Zhijun， ZHANG Ping，FANG Zheng（Huadian Electric Power Research Institute Co.，Ltd.，Hangzhou 31OO13，China）

Abstract：Thispaperintroducesarail-mountedinspectionrobotcontrol system.With STM32microcontrollerasthecore， informations concerning motor encoder，track limiter，obstacleavoidencesensorareacquiredinrealtimetoachieveaccurate positionigandsafeandhighlyeficientoperation.Therobotsareequipped with monitoring equipmentssuchasinfraredcameras， visiblelightcamerasandpartialdischargerstomonitorthelectricalquipmentsinsubstation，whereteispectionrobotsare applied toinspectthekeyequipmentsatcrtical locationsonsite.Theproposedsystemcanrealizeall-weatherrapiddata colection，real-timeinformationtransmisson，intellgentanalysisandearlywaringandquickdecisionfeedback，whichnot onlyefctivelyenhances theoperationandmaintenanceperformanceof thesubstationandachievesreliableproductionandlean management，butalsosaves laborcostsandensures personalsafety.Thesystem makessignificantchange tothetraditional mode of equipment operation and maintenance，and upgrades intelligent mamgement level.

Keywords ：power system；inspection equipment；artificial intelligence；inspection robot

0 引言

升压站挂轨式巡检机器人系统是一种应用于电力系统中的智能化巡检设备，旨在解决传统人工巡检方式存在的劳动强度大、工作效率低和安全隐患多等问题[1]。（剩余6099字）