Robot Real-time Inspection Method for Compliance Inspection of Switchgear Circuit Breaker Trolley

For switchgear conformity inspection, a real-time wavelet transform inspection algorithm based on the robot's qualification inspection scheme is proposed. The torque signal after Kalman filter is windowed. The data in the window is decomposed and reconstructed by wavelet, and the last data at the end of the window is used as the output of real-time wavelet transform. When the wavelet reconstructed amplitude of the high-frequency part of the continuous torque signal exceeds the threshold, it is judged that switchgear is unqualified. The proposed method is verified by experiments. The experimental results show that the recognition rate of the proposed algorithm is 100%, and delay within 20ms. In the case of damped interference, the recognition rate still maintains 100%, and delay within 30ms. Compared with the traditional offline wavelet transform inspection algorithm, it has a wider application range, stronger robustness, and can protect equipment and products more effectively.