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1研究背景随着自动化及通信技术的发展,越来越多变电站已具备“四遥”(遥测、遥信、遥控、遥调)功能,实现综合自动化,采用无人值班的运作模式,然而变电站巡视基本上仍采用人工定期巡视的方式开展。近年来,有些电网企业开始尝试在个别变电站中采用巡视机器人作为传统人工巡视的补充,并进一步探索未来实现机器人全自动智能巡视的可能性。然而,目前变电站巡视机器人并未考虑驱鸟功能,同时变电站建设
1 Research Background With the development of automation and communication technology, more and more substations already have the function of “four remote” (telemetry, remote signaling, remote control and remote adjustment) to realize integrated automation and unattended operation modes. However, the inspection of substations is basically carried out by means of manual inspection on a regular basis. In recent years, some power grid companies have begun to try to use patrol robots in individual substations to supplement traditional manual patrolling, and further explore the possibility of realizing robotic fully automated intelligent patrolling in the future. However, the current substation inspection robots did not consider the function of repelling birds, while substation construction