Application and Design of Inspection Robot System Based on Multi-parameter Hierarchical Inspection of UHV Substation

In this paper, a new substation inspection robot system is introduced, to meet the application requirements of multi-parameter full-station automatic hierarchical insulation status power equipment in UHV ( Ultra-High Voltage ) substation. The designed control robots, including identifying number meters on cabinet, measuring partial discharge, temperature and humidity so . divided into two parts. One part runs body ,which called , it contains web server, ground database. other external industrial computer, which station service system. function more specific, mainly for controlling its own motor driver, order complete motion. achieves important logic control, configuring plan, visual recognition, walking path planning, writing results