GIS Room Autonomous Inspection System Based on Multi-rotor UAV

2021 International Conference on Electrical Materials and Power Equipment (ICEMPE) Pub Date : 2021-04-11 DOI:10.1109/ICEMPE51623.2021.9509093

Qi Li, Yan Dai, R. Han, Donglian Qi, Yunfeng Yan

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引用次数: 1

Abstract

Gas-insulated switchgear (GIS), as an important high-voltage equipment in a substation, is extremely important to the normal operation of the substation. There are many SF6 pointer meters in the GIS room to monitor the insulating medium, SF6 gas, in the closed metal pipeline. However, since many meters are located at a height of 4-5 meters, it is not conducive to manual or robot inspection. Therefore, in order to solve the problem of inspection of SF6 meters at high places, the article proposes to use a multi-rotor Unmanned Aerial Vehicle(UAV) with strong maneuverability and high flexibility for inspection. The inspection system designed in this paper is based on the secondary development of the DJI Mavic2 UAV platform, and uses Apriltag to achieve accurate indoor positioning of the UAV. At the same time, it combines the meter recognition algorithm based on key point detection to automatically read the meters. Finally, the autonomous inspection of SF6 meters in the GIS room based on the multi-rotor UAV is realized. Through testing in the substation, the practicability of the inspection system is verified.

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基于多旋翼无人机的GIS房间自主巡检系统

气体绝缘开关柜作为变电站中重要的高压设备，对变电站的正常运行至关重要。GIS室内有许多SF6指针仪表，用于监测封闭金属管道中的绝缘介质SF6气体。但由于很多米位于4-5米的高度，不利于人工或机器人巡检。因此，为了解决高空SF6米的巡检问题，本文提出采用机动性强、灵活性高的多旋翼无人机(UAV)进行巡检。本文设计的巡检系统是基于大疆Mavic2无人机平台的二次开发，采用Apriltag实现无人机的精确室内定位。同时结合基于关键点检测的电表识别算法，实现电表自动读取。最后，实现了基于多旋翼无人机的GIS机房SF6米自主巡检。通过变电站的实际测试，验证了该检测系统的实用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2021 International Conference on Electrical Materials and Power Equipment (ICEMPE)

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