Professional Documents
Culture Documents
A State-of-the-Art Survey
Jean-Francois Allan1, Julien Beaudry2
Hydro-Qubec Research Institute (IREQ)
Robotics and Civil Engineering
Varennes, Qubec, Canada
1
allan.jean-francois@ireq.ca, 2 beaudry.julien@ireq.ca
Abstract-- This paper presents a state-of-the-art survey of
robotic systems applied to power substations. Bibliographic
research for this paper identified some 75 scientific publications
and 39 patents dating from the late 1980s to 2013. Aside from
recent work at Hydro-Qubec (IREQ) in Canada on a field
robot for power substations, almost all the R&D work identified
comes from Asia, especially during the last decade, with the
main research developments involving a mobile robot named
SmartGuard from State Grid Corporation of China (SGCC).
The first section of the paper presents robotic systems dedicated
to inspection and security in power substations, while the second
part of the paper looks at robots for operation and maintenance
tasks in substations. A list of patents for robots for substations is
also provided.
Index Terms-- Inspection, navigation, robot, substation.
I.
INTRODUCTION
A.
Terrestrial robots
Fig. 5. Meter display recognition, Sun et al. in [63] (2011; 2011 IEEE)
IV.
CONCLUSION
TABLE II.
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18] S. Lu, Y. Li, T. Zhang, Design and implement of control system for
powersubstation equipment inspection robot, IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), pp. 93-96, 2009.
[19] C.-Y. Zhang, H. Feng, C.-G. Fu, P. Xiao, Design of GPS Navigation
system for Substation Equipment Inspection Robot, Microcomputer
Information, No. 29, pp. 166-168, 2010.
[20] P. Wei, Z.-Q. Zhang, C.-X. Zhang, B.-Q. Li, Q. Du, Design of the
Navigation System for the Inspecting Robot in the Unattended
Operation Substation, Zidonghuayu Yibiao (Automation &
Instrumentation), Vol. 24, No. 12, pp. 5-8+25, December 2009.
[21] P. Wei, Z. Zhang, C. Zhang, B. Li, Q. Du, Design of Navigation
System for the Inspection Robot in Unattended Operation Substation,
Asia-Pacific Power and Energy Engineering Conference, pp. 1-4, 2010.
[22] R. Guo, P. Xiao, L. Han, X. Cheng, GPS and DR integration
for robot navigation in substation environments, IEEE International
Conference on Information and Automation, pp. 2009-2012, 2010.
[23] R. Guo, L. Han, X. Cheng, Omni-directional vision
for robot navigation in substation environments, IEEE International
Conference on Robotics and Biomimetics, pp. 1272-1275, 2009.
[24] J. Wang, W. Chen, A Novel Localization System Based on Infrared
Vision for Outdoor Mobile Robot, Proc. of the International
Conference on Life System Modeling and Simulation (LSMS) and the
International Conference on Intelligent Computing for Sustainable
Energy and Environment (ICSEE), Springer-Verlag Lecture Notes in
Computer Science, Vol. 6330 LNBI, pp. 33-41, 2010.
[25] J. Wang, S. Hu, X. Zhang, W. Chen, Mobile Robot Localization in
Outdoor Environments Based on Infrared Vision. ROBOT, Vol. 32,
Issue 1, pp. 97-103, 2010.
[26] R. Guo, B. Li, Y. Sun, L. Han, A patrol robot for electric power
substation, Proc. of the International Conference on Mechatronics and
Automation (ICMA), pp. 55-59, 2009.
[27] P. Xiao, R. Guo, S. Wang, Y. Luan, M. Wang, Design of a Laser
Navigation System for Substation Inspection Robot, 2nd Int. Conf. on
Applied Robotics for the Power Industry (CARPI), pp. 112-116, 2012.
[28] P. Xiao, R. Guo, Y. Luan, H. Wang, L. Li, F. Zhang, D. Pang, Design
of a Laser Navigation System for Substation Inspection Robot, 10th
IEEE Int. Conf. on Control and Automation (ICCA), pp. 739-743, 2013.
[29] H. Li, B. Wang, L. Li, Research on the infrared and visible PowerEquipment image fusion for inspection robots, 1st Int Conference
on Applied Robotics for the Power Industry (CARPI), pp. 1-5, 2010.
[30] L. Li, B. Wang, B. Li, Z. Wang, W. Wang, The Application of Image
Based Visual Servoing System for SmartGuard, 2nd Int. Conf. on
Applied Robotics for the Power Industry (CARPI), pp. 102-106, 2012.
[31] A. Chen, Q. Yue, Z. Zhang, Y. Sun, An Image Recognition Method of
Substation Breakers State Based on Robot, Dianli Xitong Zidonghua,
Vol. 36, No. 6, pp. 101-105, March 25, 2012.
[32] W. Wang, B. Wang, Z. Wang, L. Li, J. Zhang, H. Li, Status
Recognition of Isolator Based on SmartGuard, 2nd Int. Conference on
Applied Robotics for the Power Industry (CARPI), pp. 107-111, 2012.
[33] W. Wang, B. Wang, Z. Wang, L. Li, J. Zhang, Y. Li, Status
Recognition of Isolator Based on SmartGuard, 5th Int. Conf. on
Digital Image Processing, SPIE Vol. 8878, 88782M, pp. 1-6, 2013.
[34] J. Beaudry, S. Poirier, Vhicule tlopr pour inspection visuelle et
thermographique dans les postes de transformation, Report IREQ2012-0121, 57 p., November 2012.
[35] L. Shengfang, H. Xingzhe, Research on the AGV Based Robot System
Used in Substation Inspection, Proc. of the International Conference
on Power System Technology (PowerCon), pp. 1-4, 2006.
[36] S. Fan, D. Xia, Study on the navigation of patrol robot of transformer
substation based on color vision and RFID, Proc. of the International
Conference on Computational Materials Science (CMS), Advanced
Materials Research, pp. 1259-1264, 2011.
[37] M. Zuo, G. Zeng, X. Tu, Research on Navigation of Substation Patrol
Robot Based on Guideline Visual Recognition, Int. Conference on
Electrical and Control Engineering, pp. 4751-4754, 2010.
[38] M. Zuo, G. Zeng, X. Tu, Research on navigation of substation
patrol robot based on guideline visual recognition, Int. Conf. on
Mechanic Automation and Control Engineering, pp. 6123-6126, 2010.
[61]
[62]
[63]
[64]
[65]
[66]
[67]
[68]
[69]
[70]
[71]
[72]
[73]
[74]
[75]
[76]
[77]
[78]
[79]