Research On Design And Control Of Inspection Robot

The research task of this thesis comes from the design and control of substation inspection robot.The purpose of this thesis is to carry out the task of patrol inspection of substation equipment and the real-time feedback to the staff.According to the requirements of patrol task,a two-wheel differential drive robot platform is designed in this thesis,and the control of the four-wheel independent steering robot in the laboratory is studied.The main tasks are as follows:1.A two-wheel differential drive robot is designed,and its mechanical system,mechanical analysis and control hardware system are designed.In the aspect of driving,the robot uses two brushless hub motors as the driving system and adopts the front wheel drive mode.In addition,the automatic charging device is also designed.2.The control hardware system design of the four-wheel independent steering robot is completed.On this basis,the control hardware system of STM32 four-wheel independent steering robot is constructed.It includes minimum system module,drive circuit module,encoder interface circuit module and magnetic navigation track module.The function of each module is analyzed and the specific circuit system is designed.3.The substation puts forward strict requirements for the function of patrol robot,so a trajectory tracking method is designed.On the basis of ant colony optimization algorithm,the trajectory of mobile robot platform is simulated with MATLAB software,which shows the reliability of the algorithm in solving trajectory tracking problem.4.The kinematics of the four-wheel independent steering robot is analyzed and the kinematics model is established.The track experiment of magnetic navigation is completed by using this platform.The experimental results show that the mobile robot platform in this thesis can meet the inspection task of substation,and can complete the different walking modes of mobile robot,such as in-situ steering walking,curve turning walking,circular trajectory walking and so on.The tracking experiments of magnetic navigation show that the platform can track the above trajectory accurately.