System Realization Of Substation Power Inspection Robot

With the rapid development of the power grid,the scale of the substation is expanding.This is a huge challenge for the daily inspection work of substation workers.Generally,for the inspection work of substation equipment,manual inspection and other traditional inspection methods are generally adopted.However,these methods rely only on the experience of the inspectors,and there are many potential risks,such as the difficulty in achieving comprehensive and accurate inspections,and inefficient inspections.A substation power inspection robot is designed in the thesis,which is mainly used to help the inspectors of the substation to complete the relevant inspection operations.An autonomous or remote control method can be employed by the substation power detection robot to complete the inspection task successfully.First of all,the design scheme of the substation power inspection robot is proposed in this thesis.Based on this design,the whole system is divided into three layers.The upper layer is the monitoring layer based on the host computer,the middle layer is the navigation control layer based on the Nvidia Jetson TK1 core board,and the bottom layer is the motion control layer based on STM32F407ZGT6.After selecting the appropriate hardware module,the entire hardware platform is built.Then,the system software framework of the inspection robot has been designed.Corresponding to the hardware framework,the software framework is also divided into three layers.Among them,the main functions required for the inspection robot are divided into five modules: motion control,map creation,path planning,positioning navigation and meter reading recognition.Each module is further refined and a complete software framework is built.Among them,the motion control belongs to the underlying control layer.The map creation,path planning and positioning navigation belong to the middle navigation control layer,and the instrument identification belongs to the host computer monitoring layer.The underlying motion control layer,the map creation and path planning of the middle layer,and the functions of the host computer monitoring layer except the recognition algorithm are mainly studied and designed in this thesis.Finally,a Qt-based terminal has been designed and the host computer monitoring layer software has been transplanted to the terminal.With the remote control terminal,the power inspection robot can be remotely operated to complete the inspection task.In this thesis,a number of experiments have been conducted,including the mappingof the inspection robot,the obstacle avoidance,the remote inspection robot inspection.The experimental results show that the inspection robot can successfully complete the above tasks and has excellent performance.