Design and Collaborative Operation of Multimobile Inspection Robots in Smart Microgrids

Abstract

This paper investigates the substation inspection problems of multimobile robots for large power stations in smart microgrids. Most multirobot inspection robots generally face the challenge of path planning, while the current widely used biological excitation neural network (BENN) methods often have the defect of the neuronal active field near boundaries and obstacles. To end this, we propose an improved biological excitation neural network (IBENN) method for path planning based on a detailed architecture and ontology framework, through which the single-point inspection, multipoint inspection, and full-area inspection tasks of substations in smart microgrids can be well completed. Simulation results show that the designed IBENN-based multirobot collaboration inspection (MRCI) system can effectively shorten the path as well as the number of turns and then show better performance than most existing results when implementing various substation inspection tasks.

Working Condition Monitoring System of Substation Robot Based on Video Monitoring

“…The system can automatically record the data and operation data of the patrol robot in the process of patrol inspection and can also automatically identify the instrument readings and alarm abnormal data. The system is divided into robot management, motion mode control, image processing, database management, and patrol log, which can save some human resources and improve the troubleshooting ability of abnormal equipment [15]. The monitoring system of substation inspection robot shall also meet the image quality requirements of video transmission to ensure that remote personnel can clearly identify the target image [16].…”

No blind spot three-dimensional trajectory planning of unmanned aerial vehicle for substation inspection based on digital twinning

“…In the inspection of lightning arrester, check whether the lightning rod is damaged, deformed and corroded, as well as the current and voltage operation state of lightning arrester. In the inspection of down lead, check whether its appearance is intact, whether it is damaged, deformed and rusted, and whether the down lead is firmly connected [7][8][9]. In the inspection of the pole-Tara line, check whether the ground anchor is damaged, deformed and corroded, and whether the tension of the stay wire is appropriate.…”

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

“…As the world is continuously becoming over-dependent on electricity, any power transmission failure could cause a catastrophic impact on people’s livelihood, including national security, health system, education, and economy. Thus, to ensure stable and reliable electricity transmission from the generation stations to consumers, the power line cables and its supporting equipment need to be routinely monitored for early fault detection and maintenance ( Chen and Wang, 2021 ; Chen et al, 2021 ). Effective identification and localization of faults on the power line system are crucial as they significantly minimize the maintenance cost and avoid unnecessary power outages.…”