| Substation inspection robot is an important way to realize automatic checking inthe converting station, which realize autonomous checking of superhigh voltagefacilities in manned or unattended converting station. Autonomy is the premised ofrobot’s long-term and sustainble operation and autonomous charging technology is thekey problem of solving robot’s anutonomy. This thesis will further study theautonomous charging problem, autonomous charging system is designed and realized,which includes autonomous charging hardware system and the docking techniquebetween robot and the charging dock. The main research contens are following:1, Based on the hardware and software conditions of substation inspection robotand job requirement, combined the actual characteristics of converting station, wedesigned the robot’s autonomous charging system and analyze the performancerequirements of the system in detail.2, Constituent parts of autonomous charging system will be detailed introduced,which include charging needle and docking device. Futhermore, charging protect devicewill be designed, which can automatic disconnect charging curcuit and protect robot’sbattery and power when poor-contact or short-circuit.3, The automatic docking strategy of inspection robot and charging device is studied in thisthesis. locator beacon of the charging device ang dock is designed. Based on color piece positioningmethod guide robot from a distance close to charging device,and using laser ranging method andtriangle plate as a beacon, realizes the inspection robot and close accurate docking charging device.4, Finally, the thesis based on the actual robot and autonomous charging system is designed,autonomous docking strategy is verified by experiment. Through the fixed and random test, andfrom the work area returned charge tungsten charging experiments independently, experimentalresults verify the effectiveness of the independent charging system and automatic docking strategyand practical. |
PDF Full Text Request