Design And Control Strategy Investigation Of Walking System For Intelligent Patrol Robots Applied In Substations

With the rapid development of microelectronics and computer technology,the applications of intelligent robots are becoming more and more extensive.Aiming at the special requirements for intelligent patrol robots in substations in Guangdong Grid Company and the shortcomings of the current products,an intelligent patrol robot's walking system with four-wheel driving and steering independently and its control strategies are designed in this thesis based on the working environment of substations.Finally,the assembly of the patrol robot prototype is completed and the feasibility of the research content is proved through the field test.Firstly,this thesis introduces the background and significance of the subject research,surveys the domestic and overseas research status of equipment inspection robots for substation,and points out the research contents in allusion to current robot drawbacks and practical substation requirements.Secondly,the intelligent patrol robots in substations are divided in this thesis into three major systems of walking,navigation and patrol,and the main tasks and special requirements in substation patrol works are analyzed on the basis of module decomposition.Movement modes of walking system structure with independent four-wheel driving and steering are analyzed,the detail hardware design scenario of walking system is given,and the hardware design of navigation and inspection systems are also completed.Thirdly,aiming at the possible problems existing in actual operations of the new walking system,a lot of control strategies are designed such as the angle correction of the stepping motor,the smooth speed of the wheel motor and the judgment of the cliff in walking,and the countermeasures of low electric power and communication interruption as well as the solution under other fault conditions are put forward.The software of all these control strategies in the main control board is programmed.According to analysis of the advantages and disadvantages of the environment maps with different structures,a feasible path planning strategy in view of the actual situation is established.Finally,after completing the prototype assembly of the intelligent patrol robot,the feasibility of the robot's function modules and control strategies is verified with both comprehensive prototype test and simulation test.The field test of the whole system in the 500 kV Yunfu substation of Guangdong Grid Company is completed with both communication system and local backstage server,and test results comply with what is expected,so that the results of this research are correct and feasible.