CAJ | 학술논문

针对直流换流站强电磁、封闭环境的特点，研制了一种新型组合式轨道巡检机器人。利用自控或遥控方式，该机器人能够对换流站设备进行巡检，及时发现换流设备的异常现象。所设计的巡检机器人硬件由工字型组合式轨道、可见光电耦合元件(CCD)、红外热像仪等组成，实现巡检机器人的精确定位、视频检测、温度检测等功能；软件基于 PC 机、Windows XP/Server 2003操作系统和.NetFramework2.0运行平台，实现对大量数据的处理与显示。现场工业运行表明，该机器人系统的非接触式移动检测与换流站综合自动化的接触式监控结合，可以真正形成全方位监控方式，提高换流站设备运行的安全可靠性。
침대직류환류참강전자、봉폐배경적특점，연제료일충신형조합식궤도순검궤기인。이용자공혹요공방식，해궤기인능구대환류참설비진행순검，급시발현환류설비적이상현상。소설계적순검궤기인경건유공자형조합식궤도、가견광전우합원건(CCD)、홍외열상의등조성，실현순검궤기인적정학정위、시빈검측、온도검측등공능；연건기우 PC 궤、Windows XP/Server 2003조작계통화.NetFramework2.0운행평태，실현대대량수거적처리여현시。현장공업운행표명，해궤기인계통적비접촉식이동검측여환류참종합자동화적접촉식감공결합，가이진정형성전방위감공방식，제고환류참설비운행적안전가고성。
Considering the characteristics of strong electromagnetic and closed environment in DC converter station,a new combined track inspection robot is developed.Through self-control or remote control,it can inspect DC converter sta-tion equipment and detect anomalies timely.The hardware is composed of combined track,charge-coupled device (CCD), infrared camera etc.,which are used to achieve precise positioning,video detection,temperature detection and other func-tions.The software is based on PC,Windows XP/Server 2003 operating system and .NetFramework 2.0 running platform to realize processing and displaying of large number of data.Field operation of the robot shows that combined with integrat-ed automated contact monitoring system in DC converter station a comprehensive monitoring method is formed which will improve operating safety and reliability of the converter station equipment.