| With the development of inspection robots in substations at home and abroad,it is time to develop a patrol robot with a compact structure,simple operations as well as powerful functions to adapt to the trend of the new era.This article mainly discusses the initial process of a small substation intelligentinspection robot from theory to practice.The development status of inspection robots at home and abroad was introduce ed.The following four vital technologies mechanical structure,navigationand positio ning,wireless communication and information collection of inspection robots were proposed by analyzing the structure,functions,advantagesand disadvantages of several typical inspection robots at home and abroad and were discussed in detail in the remaining part of the dissertation.Aiming at the functional requirements of patrol robots performing patrol tasks and the special working environment of substations,the overall design of patrol robots was proposed;the mechanical structure of patrol inspection robots for small substations was designed,and its chassis structure and PTZ structure were introduce ed in detail;analyze the kinematics and analytical dynamicsof the robot to ensure its feasibility.Through the analysis of the control system of the inspection robots,the overall design of the control system of the inspection robot was proposed,and the movement control system,PTZ(Pan/Tilt/Zoom)control system and sensor detection system of the inspection robot were designed in detail;A detailed software program was designed for the movement control system as well as the PTZ control system;a human-computer interaction system with a simple page layout,motion control,and display of various sensor values was designed.Through the grid mapping of 35 Kv small substations,according to the needs and characteristics of the inspection work,the path planning of the inspection robot was studied indepth.A test platform for inspection robot was set up to verify that the performance of inspection robot is basically reliable.Infrared sensors,GPS and attitude modules are functioning.The experiment shows that robots can meet the demand of daily motion control,which lays a theoretical and practical foundation for further research. |
PDF Full Text Request