To ensure the power system operates safely and reliably, it is essential to monitor and evaluate the health condition of power equipment on-line or off-line. This study reviews the research status in condition monitoring and diagnosis of power equipment, including transformer, gas insulated switchgear, cable, external insulation, generator, and power capacitor in recent years. Although much progress has been made in technologies of condition monitoring and fault diagnosis such as test accuracy, fast and accurate fault localisation and recognition of fault types, there are still many deficiencies which needs further research work, including the reliability of signal collection from sensors, the accuracy of data treatment and analysis, anti-interference performance of test equipment, appropriate models used for condition evaluation. The prospective of condition monitoring and diagnosis technologies of power equipment are also presented in this study. It is proposed that the application of big data, internet of things and cloud computing should be expected and given special attention in the near future.

Condition monitoring and diagnosis of power equipment: review and prospective

The invention relates to a pipeline ditch detecting robot system which comprises a robot, a control box and a cable connected with the robot and the control box. The robot comprises a vehicle body, walking mechanisms, a lifting mechanism and a pan-tilt camera shooting device. The side face of the vehicle body is in the shape of a big-end-up trapezoid. The walking mechanisms are two sets of crawler type walking mechanisms on the two sides of the vehicle body. Each crawler type walking mechanism comprises a driving wheel, a guide wheel, two track rollers, a plurality of weight bearing wheels and a track, wherein the driving wheels, the guide wheels, the track rollers and the weight bearing wheels are sleeved with the tracks. The driving wheels and the guide wheels are arranged at the two ends of the upper portion of the vehicle body, track guide wheels are arranged between the driving wheels and the guide wheels, and the weight bearing wheels are arranged at the lower end of the vehicle body to bear the vehicle body and elements on the vehicle body. The system is simple in structure, has complete functions, is convenient to operate, and can adapt to more complex conditions.

Pipeline ditch detecting robot and system thereof

The utility model discloses a transformer substation dry ice cleaning vehicle. The transformer substation dry ice cleaning vehicle comprises an insulating telescopic device, a dry ice cleaning device and a walking type movable platform, wherein a shear fork lifting device is arranged on the walking type movable platform and the insulating telescopic device is arranged on the movable platform through the shear fork lifting device. The insulating telescopic device comprises a connecting end portion, wherein the connecting end portion is movably connected with the dry ice cleaning device. The transformer substation dry ice cleaning vehicle is safe and efficient and can clean a transformer substation in a charged mode.

Transformer substation dry ice cleaning vehicle

An electrified cleaning robot for an insulator of a transformer substation is disclosed, and relates to the application field of robot technology, in particular to an electrified cleaning robot for a vertical insulator of a transformer substation. The robot consists of a mobile platform, a mechanical arm with three degrees of freedom, a tail end tool, and a positioning sensor. The mechanical arm with three degrees of freedom is installed on the mobile platform. The tail end tool is installed at the top end of the mechanical arm with three degrees of freedom. The positioning sensor is installed in the tail end tool. Electrified cleaning operation for the insulator of the transformer substation is realized by the robot so as to solve the contradiction between power cut to clean and continuous power supply. Dry ice particles are used as a medium to accelerate in high pressure air flow and the surface of the insulator is impacted by a nozzle of the tail end tool so as to realize non-contact cleaning of the insulator.

Electrified cleaning robot for insulator of transformer substation

The invention provides an intelligent tunnel robot intelligent inspection integrated monitoring and controlling system. The system comprises an inspection robot, an Internet of Things sensing detection unit and a monitoring and controlling analysis unit which are connected with each other in communication way; the inspection robot comprises a driving pulley suspended on a rail, a motor for driving the driving pulley, a camera and a light which are used for capturing images, an infrared detector for performing combustible gas detection, a sensor set for detecting humidity, temperature and smog in tunnel environment, and an intelligent control module for controlling the inspection robot, and the motor, the camera, the light, the infrared detector and the sensor set are connected with the intelligent control module in communication way; and the intelligent control module is connected with the monitoring and controlling analysis unit in communication way.

Intelligent tunnel robot intelligent inspection integrated monitoring and controlling system

Research on pose adaptive correction method of indoor rail mounted inspection robot in GIS Substation

The invention discloses a miniature crawler-type cable tunnel patrol robot, which relates to a robot capable of realizing cable tunnel/pipeline patrolling. The robot consists of two independent crawlers, a substrate, a posture setting mechanism, a camera with a holder, and a sensor. The posture setting mechanism is arranged in the substrate. The camera with the holder is arranged on the substrate. The two crawlers are positioned on the left and right sides of the substrate respectively, and are in rotational connection with driving connecting rods on the substrate and the posture setting mechanism by two groups of shafts respectively. The sensor is arranged on the substrate. The left and right independently driven crawlers are adopted, and a posture included angle formed by the two groups of crawlers can be set, so the robot can be adapted to either the smooth-riding surfaces of cable tunnels or the arched surfaces of pipelines of different diameters by regulating the posture included angle, and realizes advancing, stepping-back and various turning motions by controlling the motions of the left and right crawlers. The robot realizes the automatic patrolling of underground transmission lines.

Miniature crawler-type cable tunnel patrol robot

The utility model discloses a sweeper for sweeping a silicon rubber insulator under a live working condition, and relates to the field of high voltage live working equipment, in particular to a tool which is capable of sweeping the silicon rubber insulator of an electric transmission line under the live working condition. The sweeper is composed of a driving part, a transmission part and a cleaning brush dial. A posture self-adaption device is mounted on the end portion of a driving device, and a tail end cleaning device is mounted at the other end of the posture self-adaption device. By means of the sweeper for sweeping the silicon rubber insulator under the live working condition, sweeping work of the silicon rubber insulator under the live working condition of the electric transmission line is achieved, and the problem of the contradiction between the fact that the silicon rubber insulator can be swept only during power failure and the requirement of power is supplied continually in the past is solved. The silicon rubber insulator is swept with a fan-shaped bristle brushed dial, and thus damage to the silicon rubber from external force is avoided.

Sweeper for sweeping silicon rubber insulator under live working condition

A live-line cleaning robot for a substation insulator relates to the field of technical application of robots, in particular to a robot capable of realizing live-line cleaning for a vertical substation insulator. The robot comprises a movable platform, a three-degree-of-freedom manipulator, an end-of-arm tool and a positioning sensor, wherein the three-degree-of-freedom manipulator is mounted on the movable platform, the end-of-arm tool is mounted at the top end of the three-degree-of-freedom manipulator, and the positioning sensor is mounted in the end-of-arm tool. By the aid of the robot, live-line cleaning for the substation insulator is realized, and the contradiction between cleaning only by means of power interruption and continuous power supply in the past is solved. Dry ice particles are used as media to realize acceleration in high-pressure airflow, the surface of the insulator is impacted by a nozzle of the end-of-arm tool, and contactless cleaning for the insulator is realized.

Live-line cleaning robot for substation insulator

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