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Li L.,Shandong Electric Power Research Institute | Wang B.,Shandong Electric Power Research Institute | Li B.,Shandong Luneng Intelligence Technology Co. | Xiao P.,Shandong Electric Power Research Institute | And 2 more authors.
IEEE International Conference on Control and Automation, ICCA | Year: 2013

Based on SmartGuard, a mobile robot for substation inspection, we propose an image based visual servo control system to precisely make the cameras with the pan & tilt to capture the substation equipment we expected to inspect. The vision control system contents of an image acquisition system, a pan & tilt and an embedded servo control system. The proposed approach firstly uses SURF local feature to take the offset of the new acquired image and the template image, which is invariant to light, scale and rotation. Without the calibration of the pan & tilt and the vision system, we calculate the Jacobian matrix based on the test movement. Then we take the servo until the image feature reach to the object image. Using this image based vision system, SmartGuard can avoid the effect of the motion error and the repeating errors of pan & tilt system, and take the precisely image of the power equipments for automatic optical inspection system. © 2013 IEEE. Source


Li D.-S.,Shandong Luneng Intelligence Technology Co. | Zhou Z.-Q.,State Grid Corporation of China | Zhang C.,State Grid Corporation of China | Du P.,State Grid Corporation of China | Hu Y.-R.,State Grid Corporation of China
Applied Mechanics and Materials | Year: 2014

Transformer and high reactance are two important devices in power substations, and the running sound has the information of their running state. But inspection robots don't have the function of sound recognition. A new sound recognition algorithm based on harmonics feature and vector quantization for power substation devices was proposed. Inspection robots is adopted to record and sample the running sound of the devices, the 27 harmonics in [0Hz,1300Hz] is adopted as the feature vector, the LBG algorithm is adopted to train the optimal codebook for VQ, and the running state of the transformer and high reactance was recognized with the high recognition ratio 99%. © (2014) Trans Tech Publications, Switzerland. Source


Wang W.,Shandong Electric Power Research Institute | Xu Z.,Shandong Luneng Intelligence Technology Co. | Wang S.,Dali Power Administration of Yunnan | Wang Z.,Shandong Electric Power Research Institute | Yang W.,Dali Power Administration of Yunnan
Lecture Notes in Electrical Engineering | Year: 2013

An improved ellipse detection algorithm based on least square approach was proposed to enhance the efficiency and accuracy of ellipse detection in digital images. The algorithm get ellipses by lease square based every boundary that obtained by the image edge detection operator. Then, we filter the ellipse by the fitting rate, ellipticity and area of the ellipse. Finally, the compared experiment results indicate that the improved method reduce the time consumption. Application of the algorithm verified the feasibility and effectiveness of the method in the actual image that can fit ellipse with high precision and meter of substation, which can also effectively deal with the extraction of region of ellipse in the image. © 2013 Springer-Verlag. Source


Wang X.L.,University of Jinan | Yang L.Y.,University of Jinan | Wang S.R.,University of Jinan | Zhang Y.,Shandong Luneng Intelligence Technology Co.
Advanced Materials Research | Year: 2014

A series of Ti-48Al-2Cr-2Nb/62%BaF2-38%CaF2 (CB) self-lubricating composites with addition of different weight percentage of solid lubricant were prepared by vacuum hot pressing sintering. Sliding wear tests against 45#steel were performed on the specimen in dry conditions, worn morphology was observed by the scanning electron microscope (SEM). The test results show that when addition of solid lubricant weight percentage is 10%, the worn surface of the composites is most smooth.The main wear mechanisms of Ti-48Al-2Cr-2Nb/62%BaF2-38%CaF2 composite are abrasive wear and adherent wear. © (2014) Trans Tech Publications, Switzerland. Source


Patent
Shandong Luneng Intelligence Technology Co. | Date: 2013-05-22

A battery replacement robot with a mobile storage rack includes a mechanical part and an electrical control part. The electrical control part controls a battery replacement device to place, in one step, all battery boxes required by one side of an electric bus that needs battery replacement onto a battery box storage rack. A horizontal moving unit moves to a position where a battery needs to be replaced. A battery box replacement device takes down a spent battery box from the electric bus; the battery box replacement device rotates towards one side around a Y axis, and raises or lowers the spent battery box so as to put the spent battery on the battery box storage rack; then the battery box replacement device takes down a charged battery box from the battery box storage rack, rotates to the original position, and installs the battery box in the electric bus.

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