Research on Visual Navigation Manipulator for GIS Ultrasonic Partial Discharge Detection

Gas insulated switchgear(GIS) is an important electrical power equipment, which has been widely used in power systems. The GIS equipment will be broken due to some unpredictable reasons in use, so it needs regular maintenance and inspection. However, the traditional detection method is heavy in workload and high in risk. Therefore, it is necessary to design a GIS ultrasonic partial discharge detection robot. We study the visual navigation manipulator technology of the GIS ultrasonic partial discharge detection robot. According to the special environment of the substation, a new marker was designed, smeared on the position to be detected. And the corresponding detection algorithm for the marker is proposed. Then we used the binocular stereo camera to obtain the left and right images of the marker, solve the three-dimensional space position of the target position, and guide the manipulator to the target position to complete the ultrasonic signal acquisition. This research will effectively improve the efficiency and safety of GIS equipment inspection.