1. Development Background of Patrol Robot Equipped with Infrared Thermal Camera

With the continuous development of science and technology, artificial intelligence and robots have been further developed and applied. AI robot can greatly improve the automation and intelligence of operation and maintenance management, helping to reduce cost and increase efficiency. At present, with the data of infrared thermal imager room inspection robot infrared, infrared inspection robot robot, electric power, railway inspection is room scene, railway scenes and power grid monitoring scenario instead of traditional human complete repeatability, high strength, high risk, such as high precision and difficult operation, saves large rooms, railway and electric power inspection of operational costs, improve the security and efficiency of inspection. Smart power grid is developing rapidly in China. Among them, intelligent inspection as a smart grid construction of a key link. At the same time, the application of intelligent inspection also drives the new development opportunities of uav, robot and other industries. As the key node connecting the backbone network and distribution network, substation's normal operation is directly related to the stability and security of the whole power system. In order to ensure the real-time monitoring of the operation state of the main transformer, bus, switch and other primary equipment in the substation, it is necessary to check and maintain the substation.

2. Defects of Traditional Manual Inspection and the Advantages of Robot Inspection

Traditional power inspection process, the main operators through the observation, touch, listen, smell sensory or instrument for site inspection equipment, such as equipment running status, testing the actual effects related to inspection personnel's professional quality and its working state, there is a certain error, defect of holes, etc., the traditional manual inspection way low labor intensity, work efficiency, the testing quality deficiencies, such as dispersive, means a single artificial detection data is also unable to accurate and timely access to management information system. Moreover, with the popularization of unattended mode, the workload of patrol is increasing, and the arrival rate and timeliness of patrol inspection cannot be guaranteed. In addition, in the plateau, hypoxia, cold and other geographical conditions or adverse weather conditions, manual inspection also has a greater safety risk, lack of effective inspection means. Under severe weather such as strong wind, fog, snow, ice, hail, thunderstorm, etc., inspection cannot be carried out in a timely manner. These error loopholes can be avoided by using intelligent inspection robots. In addition, extreme weather, harsh terrain environment, toxic and harmful gases, inflammable and explosive conditions, etc. all pose great risks to the safety of manual patrol inspection. With the increasing demand of power supply quality, more flexible and practical robot inspection system of substation has been applied. Substation equipment inspection robot system in the way of autonomous or remote control, unattended or few people on duty in the substation to carry out inspection of outdoor high-voltage equipment, power equipment defects, foreign suspension and other abnormal phenomena can be found in time. Used with the explosion-proof type of thermal imager explosion-proof type robot can ignore the flammable and explosive, poisonous and harmful gas, can be used in harsh conditions, the transmission of infrared and visible light image at the same time, support the early warning model, it can be through the image acquisition and recognition, abnormal alarm functions, the temperature parameters of poisonous and harmful, real-time detection, flammable and explosive gas found abnormal, timely effective liberation of human make up for the deficiency of the artificial inspection, improve the efficiency of equipment operation maintenance, saving cost greatly reduced the loss, avoid casualties, potential safety hazard to realize unattended management mode of operation maintenance effectiveness, Improve the safety level of equipment and power grid.

3. Infrared Thermal Camera Applied to Electric Patrol Robot

The working mode of the intelligent patrol robot equipped with infrared thermal camera includes visible light detection, infrared detection and omni-directional detection. Visible light detection is mainly in the daytime, infrared detection is mainly at night, and all detection is mainly for practical test, which requires both visible light and infrared detection. With infrared thermal imager plays an important role in the inspection, the infrared thermal imaging camera can work in extreme weather conditions, can penetrate smoke, dust, also can at night the temperature of the test equipment, power equipment temperature state can effectively judge whether power equipment running normally, if the operation is unusual, linkage alarm, fault location and accurate positioning anomaly, help staff trying to identify the problems quickly. Inspection robot power needs to the working status of substation equipment for testing all day, at present, the substation inspection robot in the detection of various work condition of the equipment, use of equipment of real-time image to be detected and the equipment of the template image registration, and marker to be detected in the acquisition of image equipment area, in order to accurately identify device status.