Control of switchgear actuator of substation inspection and disposal robot based on teleoperation

Switchgear operation is one of the most important tasks in substation. The traditional switchgear operation and inspection business are dominated by people. Substations in remote areas also need to be manned on long term, and there are certain risks in various operations in high-voltage substations. In this paper, combined with the teleoperation robot control technology and actuator control technology, the data gloves are used to establish a mapping between the operator's fingers and the robot end-actuators. Based on the somatosensory detection algorithm and gesture recognition algorithm, it is completed that the control of the switchgear actuator of the substation inspection and disposal robot. The control method of this paper has been verified in the operation process of substation switchgear equipment, which could greatly improve the operation efficiency, reduce the labor cost, reduce the safety risk, and promote the intelligent construction of inspection and operation industry.