Application and Design of Inspection Robot System Based on Multi-parameter Hierarchical Inspection of UHV Substation

In this paper, a new substation inspection robot system is introduced, to meet the application requirements of multi-parameter full-station automatic hierarchical inspection of the insulation status of power equipment in UHV ( Ultra-High Voltage ) substation. The system is designed to control the inspection of substation robots, including identifying the number of meters on the cabinet, measuring partial discharge, measuring temperature and humidity and so on . The system is divided into two parts. One part runs in the robot body ,which is called the body control system , and it contains web server, robot ground control system and database. The other part runs on external industrial computer, which is called station control service system. The function of the body control system is more specific, mainly for controlling its own motor driver, in order to complete its own motion. The station control service system achieves important logic control, including configuring inspection plan, visual recognition, robot walking path planning, and writing inspection results into the database.