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GIS Room Autonomous Inspection System Based on Multi-rotor UAV

Gas-insulated switchgear (GIS), as an important high-voltage equipment in a substation, is extremely important to the normal operation of the substation. There are many SF6 pointer meters in the GIS room to monitor the insulating medium, SF6 gas, in the closed metal pipeline. However, since many meters are located at a height of 4-5 meters, it is not conducive to manual or robot inspection. Therefore, in order to solve the problem of inspection of SF6 meters at high places, the article proposes to use a multi-rotor Unmanned Aerial Vehicle(UAV) with strong maneuverability and high flexibility for inspection. The inspection system designed in this paper is based on the secondary development of the DJI Mavic2 UAV platform, and uses Apriltag to achieve accurate indoor positioning of the UAV. At the same time, it combines the meter recognition algorithm based on key point detection to automatically read the meters. Finally, the autonomous inspection of SF6 meters in the GIS room based on the multi-rotor UAV is realized. Through testing in the substation, the practicability of the inspection system is verified.