Результаты исследований: Глава в книге, отчете, сборнике статей › Материалы конференции › Рецензирование
Результаты исследований: Глава в книге, отчете, сборнике статей › Материалы конференции › Рецензирование
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TY - GEN
T1 - MAD Robot: Concept and Prototype Description of the Robot for Multi-Spectral Power Equipment Diagnostics. Part II
T2 - 2023 Belarusian-Ural-Siberian Smart Energy Conference (BUSSEC)
AU - Romanov, Alexey
AU - Gyrichidi, Ntmitrii
AU - Trofimov, Oleg V.
AU - Eroshenko, Stanislav
PY - 2023
Y1 - 2023
N2 - ArduPilot, specifically ArduRover, is a widely used firmware for rapid prototyping ground and above-water mobile robots. For the last decade, it has progressed from a simple controller for Do-It-Yourself(DIY) projects to an ecosystem, including software and compatible hardware, successfully used in multiple industrial applications. This paper presents the concept of an industrial-grade rover for automatic power equipment diagnostics based on the ArduPilot ecosystem and controlled via the standard Mission Planner software. The rover's control system includes a CUAV X7 controller running ArduRover firmware for navigation and mission program execution, a B&R X90 motion controller, and an Intel Core i7-based industrial computer to control multi-spectral cameras and store their data. Additionally, the robot is equipped with multiple communication channels, including a 1.4 GHz mesh radio modem and an LTE transceiver. This part of the paper describes the created prototype and discusses its advantages and disadvantages based on the operating experience during the inspection of 220 kV power equipment on several power plants. © 2023 IEEE.
AB - ArduPilot, specifically ArduRover, is a widely used firmware for rapid prototyping ground and above-water mobile robots. For the last decade, it has progressed from a simple controller for Do-It-Yourself(DIY) projects to an ecosystem, including software and compatible hardware, successfully used in multiple industrial applications. This paper presents the concept of an industrial-grade rover for automatic power equipment diagnostics based on the ArduPilot ecosystem and controlled via the standard Mission Planner software. The rover's control system includes a CUAV X7 controller running ArduRover firmware for navigation and mission program execution, a B&R X90 motion controller, and an Intel Core i7-based industrial computer to control multi-spectral cameras and store their data. Additionally, the robot is equipped with multiple communication channels, including a 1.4 GHz mesh radio modem and an LTE transceiver. This part of the paper describes the created prototype and discusses its advantages and disadvantages based on the operating experience during the inspection of 220 kV power equipment on several power plants. © 2023 IEEE.
UR - http://www.scopus.com/inward/record.url?partnerID=8YFLogxK&scp=85178017336
U2 - 10.1109/BUSSEC59406.2023.10296278
DO - 10.1109/BUSSEC59406.2023.10296278
M3 - Conference contribution
SN - 979-835035807-0
SP - 142
EP - 149
BT - Proceedings of the 2023 Belarusian-Ural-Siberian Smart Energy Conference, BUSSEC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 25 September 2023 through 29 September 2023
ER -
ID: 49265388