An AI Integrated Robotic System for Safe Operation in High Voltage Distribution Panel

초록

In high-voltage (22 kV) distribution panels within substations or industrial facilities, electricians performing internal maintenance typically de-energize the power supply, confirm the absence of voltage using a voltage detector, and then discharge the accumulated charge in circuits or equipment by attaching portable earthing clamps to the R-S-T(or A-B-C) terminals. Despite these precautions, several electrocution incidents occur annually due to misinterpretation of the power equipment status, mistakenly proceeding with work under the assumption that the system is de-energized while it remains energized. Additionally, human error can lead to sudden circuit shorting, causing arc flash incidents that pose severe risks, such as burns, explosions, and fires. This research proposes the development of a robotic system capable of performing these hazardous tasks autonomously to prevent such incidents. The robotic system consists of a voltage detecting module, an earthing module, a gripper, a depth camera, and an orthogonal robotic manipulator. The voltage detecting module contacts the R-S-T terminals to verify the de-energized state, while the earthing module safely discharges the R-S-T terminals. A depth camera, employing a instance segmentation algorithm, precisely identifies the positions of the R-S-T terminals, allowing the robotic system to navigate and position the voltage detecting and earthing modules accurately. The efficacy of this robotic system was validated in real-world conditions, demonstrating that the automated voltage detecting and earthing process could reduce the risk of electrocution for electrical technicians. © 2025 IEEE.

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