NDLI: Design and implement of control system for power substation equipment inspection robot

Content Provider	IEEE Xplore Digital Library
Author	Shouyin Lu Yanping Li Tao Zhang
Copyright Year	2009
Description	Author affiliation: School of information and electrical Eng., Shandong Jianzhu University, Jinan, 250101, China (Shouyin Lu; Yanping Li; Tao Zhang)
Abstract	This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's navigation method based on colorful image processing was proposed. By the use of image partition of the HSI model and the mathematic morphology, the trajectory and distinguish the stop-sign drew beforehand from the image are obtained. Then the parameters of navigation and positioning are given by “sampling estimated” method. And the industrial operation of the system shows that the control system can form a kind of full monitor system for substation to greatly improve the safety, dependability and reality of the substation inspection.
Starting Page	93
Ending Page	96
File Size	237387
Page Count	4
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Substations Inspection Navigation Robot control Image processing Mathematical model Power system modeling Mathematics Morphology
Content Type	Text
Resource Type	Article

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