The Design And The Application Of The Rail-Mounted Equipment Inspection Robot For Substation

Substation inspection robot is a mobile robot,an inspection system that has a variety of sensor information fusion,uses alternately a variety of communication methods,allows the coexistence of a variety of intelligent control methods,is capable of autonomous navigation and location,and has broad application prospects.It offers real-time monitoring to substation high voltage equipment to detect the abnormal condition of the electrical equipment,which can greatly improve the accuracy,real-time and the level of automation of the substation equipment condition monitoring.This thesis,according to the specific requirements of substation equipment inspection,combined with the actual situation of the current robot sensors,design a kind of can automatically patrol along the guide line within the substation set of mobile robot.First analyzes in detail the principles of the sensor is commonly used in the current robot,type and characteristics.And then to the overall design of the robot,the robot can walk along the guide line automatic internal set of transformer substation,the structure of four-wheel traveling mechanism,the first two rounds as the universal wheel,after two rounds of driving wheels,and each consists of a high power motor drive,car equipped with laser photoelectric sensor can automatically detect the white line,the infrared sensor to measure distance,steer clear of obstacles.Considering anti-jamming sensor interface technology,the detailed design the sensor interface circuit automatically patrol mobile robot.Finally developed automatic supervision of the mobile robot control software,finally realizes the automatic patrol and mobile robots.The main results of this paper are as follows:(1)Mobile inspection system using single row track mode,the moving mechanism using the straddle type mechanism,the system can adapt to a variety of adverse weather conditions,but also has moving fast,accurate positioning,good stability,high reliability.(2)Using crossed to take power technology,makes the mobile platform can be 24 hours of continuous operation,avoiding the use of the battery and bring the weight of large,need to be charged and the need for regular maintenance issues.(3)Mobile platforms and fixed-point surveillance cameras have adopted a power line carrier communication technology for transmitting video and data,compared to the wireless communication transmission,greatly improving the communication bandwidth,while addressing the communications vulnerable to interference problems and does not increase additional cable.