用于智能电网的基于巡检机器人的移动传感与电力线跟踪

Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid.

作者信息

Byambasuren Bat-Erdene, Kim Donghan, Oyun-Erdene Mandakh, Bold Chinguun, Yura Jargalbaatar

机构信息

Department of Electric Technique, Mongolian University of Science and Technology, Ulaanbaatar 11000, Mongolia.

Department of Electronics and Radio Engineering, Kyung Hee University, Yongin-si 446-701, Korea.

出版信息

Sensors (Basel). 2016 Feb 19;16(2):250. doi: 10.3390/s16020250.

DOI:10.3390/s16020250

PMID:26907274

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4801626/

Abstract

Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

摘要

智能传感和电力线跟踪在智能电网系统中非常重要。通过使用巡检机器人对架空电力线进行远程电流测量，可以检测到非法用电情况。因此，需要准确的非法用电检测方法。稳定且正确的电力线跟踪是一个非常突出的问题。为了正确跟踪并进行精确测量，应预先使用巡检机器人通过数学函数对电力线的摆动路径进行拟合和预测。在此之后，远程巡检机器人就可以沿着电力线跟踪并测量电流。本文提出了一种使用抛物线和圆拟合算法进行非法用电检测的新型电力线跟踪方法。我们通过仿真和实验结果证明了所提出跟踪方法的有效性。