Design and implement of control system for power substation equipment inspection robot

This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's...

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Bibliographic Details
Main Authors: Lu, Shouyin, Li, Yanping, Zhang, Tao
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Image processing
Inspection
Mathematical model
Mathematics
Morphology
Navigation
Power system modeling
Robot control
Substations
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Summary:This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's navigation method based on colorful image processing was proposed. By the use of image partition of the HSI model and the mathematic morphology, the trajectory and distinguish the stop-sign drew beforehand from the image are obtained. Then the parameters of navigation and positioning are given by ¿sampling estimated¿ method. And the industrial operation of the system shows that the control system can form a kind of full monitor system for substation to greatly improve the safety, dependability and reality of the substation inspection.
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354591