An automatic robot for ultrasonic partial discharge detection of gas-insulated switchgear

What is it about?

Gas insulated switchgear (GIS) stands as a pivotal component in power systems. Conventional GIS inspection robots face limitations, unable to perform live line measurements or adapt effectively to diverse environmental conditions. This paper introduces a novel solution: the GIS ultrasonic partial discharge detection robot (GBOT), designed to assume the role of substation personnel in inspection tasks. In addressing the contact between the probe plane and the curved surface of GIS tank, this paper introduces a flexible end effector designed to facilitate optimal contact between the two components. Particularly, the path planning method effectively overcomes the challenges posed by narrow passages in a substation environment, exhibiting quicker planning speeds and lower path costs compared to traditional path planning approaches. Additionally, the use of a pattern recognition method based on convolutional neural networks enhances the defect detection rate.

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