Intelligent Inspection Robot Research Articles

Research on the Robot’s Intelligent Inspection, Its Target Detection Method

Intelligent inspection robot has the characteristics of programmable, and can be applied to various inspection environments. In general, studies show the present trend is to replace humans with an inspection robot thereby reducing the risks and improving the inspection efficiency. The intelligent inspection robot is based on intelligent technology and has programmability. In this paper, based on the research of intelligent inspection robot technology, we analyze inspection techniques, their algorithms, functions, characteristics and other important parameters. The research mainly focuses on two things: the target detection, methods and improved Adaboost algorithm to improve the accuracy of target detection; the Camshift algorithm which is improved to complete tracking design, timely data acquisition, timely problem discovery and timely solution. The target detection and target tracking are studied and their algorithms are analyzed. We present that a tracking algorithm based on improved Camshift deals with the problems which exist in traditional Camshift algorithm. In addition, we present Meanshift algorithm improves the Camshift algorithm for the whole-process tracking, automation and intelligence level, and efficient tracking. Next, combined with relevant technologies and techniques, the algorithm is improved to complete the target detection design and tracking design, and to solve the problems of inaccurate target detection and untimely detection.

Research on path planning algorithm of intelligent inspection robot

With the development of intelligent inspection robot technology, inspection robots are widely used in substations to complete the inspection work of substations and move toward intelligent inspection. At present, substations begin to reduce the number of inspection personnel, reduce labor costs, and improve inspection efficiency and ensure the safe operation of electrical equipment in substations by using inspection robots to conduct intelligent inspection of substation equipment. The algorithm is used to realize the path planning of the inspection robot and model the substation environment.

Resource allocation in UAV assisted air ground intelligent inspection system

With the progress of power grid technology and intelligent technology, intelligent inspection robot (IR) came into being and are expected to become the main force of substation inspection in the future. Among them, mobile edge computing provides a promising architecture to meet the explosive growth of communication and computing needs of inspection robot. Inspection robot can transmit the collected High Definition (HD) video to adjacent edge servers for data processing and state research and judgment. However, the communication constraints of long-distance transmission, high reliability and low delay pose challenges to task offloading optimization. Therefore, this paper introduced Unmanned Aerial Vehicle (UAV) and established UAV assisted mobile edge computing system. UAV assisted and mobile edge computing are combined to form edge computing nodes. In this way, it provided communication and computing services to the IR for fast data processing. Specifically, in order to optimize the system energy consumption, a resource allocation strategy based on genetic algorithm is proposed. By optimizing the offloading decision and computing resource allocation of the IRs, the computing task of the IRs are offloaded to an energy-efficient UAV. The experimental results show that the resource allocation strategy based on genetic algorithm can effectively reduce the energy consumption and cost of UAVs and IRs, and effectively realize the reasonable allocation of resources. The results verify the effectiveness and reliability of the algorithm in the real scene.

Improvement and Application of Intelligent Inspection Robot in Substation Operation and Maintenance

Improvement and Application of Intelligent Inspection Robot in Substation Operation and Maintenance

A novel intelligent inspection robot with deep stereo vision for three-dimensional concrete damage detection and quantification

Crack assessment of reinforced concrete structures using stereo cameras is a potential way for increasing the efficiency and safety of infrastructure maintenance routines. However, existing damage methods for reinforced concrete structures are based on the segmentation of two-dimensional planes without consideration to the actual size of concrete damage. Furthermore, on-site structural monitoring requires the installation of a large number of contact-based sensing devices, resulting in the potentially excessive consumption of time and financial resources. Therefore, a new vision-based damage assessment method for reinforced concrete structures using a novel intelligent inspection robot with Internet of things–enabled data communication system is proposed in this article. In the first part of this article, the data acquisition system of the inspection robot and the algorithm for three-dimensional structural reconstruction using a stereo camera is discussed. The discussion is followed by a description of the method for crack quantification based on a new proposed deep-learning technique. Finally, to accomplish damage localization, the quantified concrete damage with actual size information is projected onto a three-dimensional surface point cloud reconstruction of the inspected structure. To verify the proposed method, a reinforced concrete column that has undergone cyclic loading failure is used as an inspection subject. The validation experiment demonstrated the ability of the proposed system to segment, localize, and quantify the damage in three-dimensional space with high accuracy.

Design of an Intelligent Inspection Robot for Underwater Pipelines

This paper will introduce the design of an intelligent inspection robot for underwater pipelines. The whole device is divided into detection module, control module, drive module and housing. Among them, the detection module is the camera and the head, the control module is mainly the Raspberry Pi motherboard, the drive module includes the battery, motor, motor driver. The device through the camera module feedback to the Raspberry Pi to make decisions, and this decision through the IO port output, and then through the motor drive module to drive the motor, the motor to make speed and direction of adjustment. This device is proposed to use stepper motor for robot movement method.

Development and application of substation intelligent inspection robot supporting deep learning accelerating

Substation inspection robots usually have low computation capability to run deep learning models. In this paper, a substation intelligent inspection robot that can support real time deep learning models is developed. The Nvidia Jetson TX2 module is the accelerating hardware module of the robot, and TensorRT is the software framework for deep learning model inference accelerating. The robot can satisfy the computational requirement of deep learning based applications, and operate in very low energy consumption. Test results on a fault diagnostic task based on object detection and instance segmentation show that with deep learning accelerating, not only high detection accuracy is achieved, but also inference time is short enough for real time fault diagnostic application.

Electric Power Intelligent Inspection Robot: a Review

The electric power intelligent inspection robot is equipped with high-definition visible light camera, infrared thermal imager, sound-collecting equipment and other intelligent detection devices and intelligent analysis algorithm software to complete the control loop from rapid acquisition of all-weather data, real-time information transmission, intelligent analysis and early warning to fast decision feedback. Therefore, instead of manual inspection, the automatic detection and intelligent analysis of the state of the power equipment are realized, and the reliability of the operation of the power grid and the power equipment is improved. The use of electric power intelligent inspection robots is an important means to realize the intelligentization of power grids, and is an important direction for the future development of smart grids. Given the current research status and deficiencies at home and abroad, this paper discusses the electric power intelligent inspection robots from aspects of main technologies, cutting-edge technology, functional positioning and standard system, and discusses the research status of electric intelligent inspection robots. On this basis, future research and development direction are put forward. This paper has a guiding role and reference value for the research of electric power intelligent inspection robot.

WITHDRAWN: Centralized management system of intelligent inspection robot based on wireless sensor

Abstract The top surface of the distant robot framework sub-framework is worked in resource examination and upkeep tasks, oil is an alternate sort of gas and petrochemical modern robot arrangements. The framework which is industrially accessible from altered arrangement organizations, have been inspected. For thickness estimations, the vision camera framework (most automated frameworks, visual investigation framework, attractive or electromagnetic, the more significant part of these mechanical frameworks, a framework that executes various restricted examination innovation. Digital physical framework is improved by consolidating the gadget's capacities to be associated with one another by utilizing data innovation and robotization arrangements, information and physical components, and a remote sensor organization, filling in the industry 4.0 to ever-changing today it has become a term. This article uses a portable robot with a Wireless Sensor Network (WSN) to check the identification and observing framework. When an odd occasion happens, the odd occasion happens because to set the caution to the majority of sensor hubs in precisely the business climate, it can happen. Structure incorporates the self-ruling robot (operator) as a part of the remote sensor organization; the portable robot will move to the location position for examination. The reason is to build up a moderately ease, another processing plant with the position and observing capacities inside the extent of a dependable. This manner, it might be anyplace, including the mind-boggling occasion of preparing and replication.

An intelligent robot for indoor substation inspection

PurposeTo ensure the safety of electric power supply, it is necessary to inspect substation equipment. With the dramatic increase in the number of substations, especially indoor substations, intelligent robot inspection has become an important development direction. This paper aims to describe the design of a trackless robot with a robotic arm, which is capable of navigating autonomously and inspecting the equipment in a narrow and complex indoor substation.Design/methodology/approachA robust four-wheel platform powered by electric motors is used to carry the robot. By fusing multiple-sensor data and visual markers, the robot achieves autonomous movement based on simultaneous localization and mapping. In addition, to accurately obtain the reading of meters located at height or in a narrow space, the robot is equipped with a newly designed visual servo robotic arm.FindingsIn practical application, the robot satisfies the requirements of substation inspection, improves work efficiency, saves costs and achieves good results. The robot is also approved by the relevant departments of the State Grid Corporation of China.Practical implicationsAfter stable operation in a substation for a period of one year, the robot shows high efficiency and stability, meeting the requirements of indoor substation inspection. Meanwhile, the robot greatly promoted the realization of indoor and outdoor integrated substation automatic inspection, and is expected to be further applied in other industrial inspection sites, including mine, tunnel and nuclear power plant.Originality/valueDue to the complex indoor environment, most of the existing inspection robots are only used outdoors, and there are no good trackless inspection robots for use indoors. The proposed robot is a trackless intelligent inspection robot for use in indoor substations. The robot features a number of important modules, including an autonomous localization and navigation module and a visual servo manipulator module, which can be used in narrow spaces or at height.

Path planning and positioning technology of intelligent inspection robot in cable tunnel

Intelligent inspection robot is efficient for cable tunnel inspection. In this study, the path planning and positioning technology of inspection robot was studied. A new path planning technology based on Floyd algorithm and simulated annealing was proposed. The local shortest path was searched using Floyd algorithm, and then global shortest path was searched using simulated annealing algorithm. Radio frequency identification devices (RFID) combined with magnetic track guidance was used as positioning technology. Test of the positioning, straight driving and curve driving of intelligent inspection robot showed that the average error of the positioning technology, straight driving and curve driving was 7.1 cm, 4.2 cm and 5.6 cm respectively. It is concluded that the path planning and positioning technology proposed in this study has smaller errors, and will not affect the completion of inspection tasks. It provides a theoretical support for the application of intelligent inspection robot in cable tunnel.

Maximum Efficiency Tracking for Dynamic WPT System Based on Optimal Input Voltage Matching

Wireless power transfer (WPT) technology has drawn much attention due to its advantages such as safety, convenience, and non-contact. For some movable devices such as intelligent inspection robot, the constant output voltage is very important to ensure its normal operation. In order to improve the system efficiency and steadiness of output voltage, a maximum efficiency tracking and constant voltage charging method is proposed for the dynamic WPT system. In this method, the mutual inductance and optimal input voltage can be estimated accurately no matter the coupling coefficient and equivalent load change or not. The simulation and experimental results have shown that the WPT system realize maximum efficiency tracking and constant voltage charging when the resistance is changed from $10\Omega $ to $5\Omega $ , and the same result was achieved when the mutual inductance is altered from $20~\mu \text{H}$ to $10~\mu \text{H}$ .

A Flexible Connection System for Manipulator

At present, the intelligent inspection robot of substation can carry infrared thermal imager, visible camera and other related detection devices of power plant equipment, relying on magnetic navigation or laser navigation, along the established route of substation to achieve the detection of outdoor equipment. With the continuous deepening of the application of substation inspection robots, some higher requirements are put forward for the application of robots. How to complete the detection of indoor switchgear in substation by robots has become a key research direction in the industry.

Quasi-Omnidirectional Fuzzy Control of a Climbing Robot for Inspection Tasks

This work presents a novel method to quasi-omnidirectional control of an intelligent inspection robot designed to work inside and outside spherical storage tanks. The main objective is to promote a stable and smooth navigation during inspection tasks, ensuring the safety motion under adhesion and kinematic constraints. The robot is designed with four independent steerable magnetic wheels and a mechanical topology that allows the correct adjustment of adhesion system. A scheduled Fuzzy control is developed to achieve an optimal behavior and maximize the robot’s maneuverability, considering the magnetic restrictions of adhesion system and kinematic constraints of the inspection robot. The high adaptability of its mechanical topology (i.e., wheel misalignment, magnetic adhesion system, wheel camber and flexibilities in mechanical structure) and gravitational disturbance introduce many nonlinear characteristics in dynamic behavior that cannot be neglected, making the determination of its dynamic model a complex task. The Fuzzy approach allows to project a control system without a depth knowledge of its dynamic properties, to minimize the dynamic disturbances found in robot structure. Thus, the proposed motion control works according to the robot specific characteristics to ensure the quasi-omnidirectional motion over a reliable adhesion to tank surface and to minimize the effects of wheels kinematic constraints.

Development and Application of the Rail-type Inspection Robot used in Substation Rooms

The outdoor inspection robots are widely used in substation at present. At the same time, the requirements of inspection robot used in substation room are put forward. First, the background of substation indoor equipments was analyzed in this paper, and the inspection content requirements of robot used for these equipments were given. Then, the overall structure of intelligent inspection robot was designed. The key components, such as the platform of horizontal movement, motion control system, and PD (Partial Discharge) detection device were closely designed. Finally, the practical application example of inspection robot was given. The application results show that the structure of rail type inspection robot used in substation room is reasonable and its operation is reliable. The inspection robot can work well instead of staff.

Structure Design and Application of Combination Track Intelligent Inspection Robot Used in Substation Indoor

In order to solve the problems of substation indoor inspection, a kind of combined track intelligent inspection robot was proposed in this paper, and the main structure, working principle and control system were introduced. Then a combination of linear planning algorithm was performed. Finally the field application in substation water cooling room was made, and the result shows that the robot can meet the requirements of field inspection.

An Advanced Automatic Remote Meter Detection Method Based on Machine Vision

There are a great amount of electronic meters equipped in the distribution substations, which were traditionally monitored by operators. On-site monitoring for risk assessment of these meters is very important. In this paper, we presented an advanced machine vision based automatic meter detection method toward the development of an online automatic meter reading intelligent inspection robot in substation. Firstly, the image received from the inspection robot was enhanced using histogram equalization. Then, the image was segmented into two parts based on the threshold obtained by Otsu’s method. Using these two parts, and the whole enhanced image, circular Hough transformation was applied on these three images and detected the circle with highest probability on them. The normalized correlation coefficients were calculated between the corresponding areas of those three circles from three images and the template image of SF6 meter. Finally, the circle with highest correlation coefficient, which was higher than a certain threshold, was determined to be the meter. If it is lower than the threshold, the algorithm would decide that no meter was found in the image. The method was tested with 222 images obtained in one substation in Xi’an, Shanxi, China, and an 87.4% accuracy was achieved using these images, which indicated the potential of this method.

Development of Embedded Intelligent Line-Following Robot Based on Image Processing

Aiming at dealing with the problems of traditional inspection robot, such as low accuracy of path identification, an embedded intelligent inspection robot based on image processing is developed. With uCOSs efficient real-time control ability and image processing technology, the robot can follow the line automatically. The experiment showed that the intelligent robot can identify the path accurately and adjust the direction and speed quickly

Design of Obstacle Avoidance Detection Based on Substation Intelligent Inspection Robot

The obstacle avoidance system is an important part of the intelligent inspection robot. According to the special environmental requirements for substation inspection robot, the inspection robot obstacle avoidance detection system was designed. The system takes MCU as the controller core, selects many sets of ultrasonic sensors to detect the obstacle information around the robot, designs the transmitting and receiving circuit of the ultrasonic signal, and completes the system software program. In consideration of the substations effect of EMI to the electronic equipments, when designing circuit, using a large of filter circuit, improve systems anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, its important for improving the robot using on substation.

Path Planning Based on Warehousing Intelligent Inspection Robot in Internet of Things

A path planning approach using combination of the Internet of Things and vague set of multi-objective decision-making was presented aiming at mobile robots in structured environments. The information of environment constrains and path length was integrated in the fitness function which was computed to sort scores of function values in order to realize path planning of mobile robot. Finally, it is proved by computer simulations that the algorithm is rational and can be used in real-time path planning of mobile robot.