Review on Security Range Perception Methods and Path-Planning Techniques for Substation Mobile Robots

Jianhua Zheng, Tong Chen, Jiahong He, Zhunian Wang and Bingtuan Gao ()
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Jianhua Zheng: State Grid Zhenjiang Electric Power Co., Ltd., Zhenjiang 212001, China
Tong Chen: State Grid Zhenjiang Electric Power Co., Ltd., Zhenjiang 212001, China
Jiahong He: School of Electrical Engineering, Southeast University, Nanjing 210096, China
Zhunian Wang: State Grid Zhenjiang Electric Power Co., Ltd., Zhenjiang 212001, China
Bingtuan Gao: School of Electrical Engineering, Southeast University, Nanjing 210096, China

Energies, 2024, vol. 17, issue 16, 1-37

Abstract: The use of mobile robots in substations improves maintenance efficiency and ensures the personal safety of staff working at substations, which is a trend in the development of technologies. Strong electric and solid magnetic fields around high-voltage equipment in substations may lead to the breakdown and failure of inspection devices. Therefore, safe operation range measurement and coordinated planning are key factors in ensuring the safe operation of substations. This paper first summarizes the current developments that are occurring in the field of fixed and mobile safe operating range sensing methods for substations, such as ultra-wideband technology, the two-way time flight method, and deep learning image processing algorithms. Secondly, this paper introduces path-planning algorithms based on safety range sensing and analyzes the adaptability of global search methods based on a priori information, local planning algorithms, and sensor information in substation scenarios. Finally, in view of the limitations of the existing range awareness and path-planning methods, we investigate the problems that occur in the dynamic changes in equipment safety zones and the frequent switching of operation scenarios in substations. Furthermore, we explore a new type of barrier and its automatic arrangement system to improve the performance of distance control and path planning in substation scenarios.

Keywords: smart grid; substation mobile robot; intelligent inspection; security range perception; condition monitoring; path planning (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2024
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