关键词: GIS设备;异物识别;光影法;机器人;水电站;

Abstract: GIS equipment is the key equipment for power transmission in hydropower stations. The insulation breakdown caused by internal foreign matters is the most common fault in GIS equipment,which directly affects the benefit of hydropower station.Due to the long barrel of GIS equipment,it is difficult to judge the internal millimeter-level foreign matters by experiences during the equipment installation and maintenance. Therefore,in order to check and identify the foreign matters in GIS pipelines more effectively,we analyzed the effectiveness of different types of identification methods such as ultrasonic wave,electromagnetic and optics wave on the internal foreign matters in GIS equipment. Then we proposed a method of foreign matters recognition combining optical sensitive method and light shadow method,designed a algorithm of foreign matters recognition based on dual light source filling light,and equipped with foreign matters detection robot in GIS equipment to realize the application,which solved the problem that it is difficult to identify and find the foreign matters in GIS equipment. The results showed that the foreign matters recognition method based on dual light source filling light can effectively and accurately identified the millimeter-level foreign matters in the GIS cavity scene,and the accuracy rate can reach more than 95%.

Key words: GIS equipment; foreign matters recognition; light shadow method; robot; hydropower station;