SLAM vision and repositioning system for autonomous inspection robots in power systems

Ke Xu; Dekai Chen; Fadong Liu; Siying Du; Jun Lu

doi:10.1117/12.3008215

14 November 2023 SLAM vision and repositioning system for autonomous inspection robots in power systems

Ke Xu, Dekai Chen, Fadong Liu, Siying Du, Jun Lu

Proceedings Volume 12934, Third International Conference on Computer Graphics, Image, and Virtualization (ICCGIV 2023); 129340A (2023) https://doi.org/10.1117/12.3008215
Event: 2023 3rd International Conference on Computer Graphics, Image and Virtualization (ICCGIV 2023), 2023, Nanjing, China

Abstract

Substation automation technology as one of the hot areas in the power industry, from the initial RTU remote device and unitary microcomputer protection and measurement and control equipment, to the current integrated intelligent equipment operation and inspection program, its automation level has been gradually improved with the in-depth research of various disciplines. Traditional inspection requires system training for employees resulting in high costs, while in the rainy and snowy weather and China's extreme cold areas of manual inspection there is a high degree of uncertainty, the traditional manual inspection has been unable to meet the growing demand for all types of inspection of substations. Therefore, there is a growing demand for the use of inspection robots instead of manual inspection. The substation to be inspected by the autonomous inspection robot of power system described in this thesis is located in Yunnan area and is suitable for indoor inspection of substations of 100kV and above. In order to meet the needs of the inspection task, the functions of various types of instrument identification, temperature and appearance monitoring of power equipment are completed based on the realization of 3D laser SLAM, completion of dynamic obstacle removal and indoor and outdoor repositioning.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Ke Xu, Dekai Chen, Fadong Liu, Siying Du, and Jun Lu "SLAM vision and repositioning system for autonomous inspection robots in power systems", Proc. SPIE 12934, Third International Conference on Computer Graphics, Image, and Virtualization (ICCGIV 2023), 129340A (14 November 2023); https://doi.org/10.1117/12.3008215

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KEYWORDS

Inspection

Point clouds

Robots

Detection and tracking algorithms

Robotic systems

Design and modelling

Mathematical optimization

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