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Substation is an essential part of the whole power system, which is burdened with the important functions of voltage and current conversion, electric energy receiving and distribution. At present, the operation and maintenance of substation in our country is mainly through regular inspection and maintenance of duty personnel, and there are many problems in related work efficiency and personnel safety. Therefore, with the development of robot technology, the power grid began to gradually replace some manual work with substation robots to solve the above problems. According to the basic requirements of the substation, develop the functional framework of the robot, develop the relevant hardware framework, understand the technology involved in the relevant hardware, and carry out the hardware selection. In this paper, the hardware framework is divided into three layers: main station layer, communication layer and implementation layer. Combining the advantages of traditional electric mobile robot and multi-degree of freedom robotic arm, an intelligent operating robot system with more comprehensive functions is designed. The positioning error of the moving robot is compensated step by step by image features, so that the operation unit at the end of the manipulator arm is in an ideal relative position to the operating object, and the operation unit is inserted into the operation hole by moving the manipulator along a fixed path to perform the corresponding operation. This method greatly reduces the calculation amount through step compensation and tentative movement. And the control accuracy also well meets the task requirements.
Shen et al. (Mon,) studied this question.