| Regular inspection of power corridors is an important task to ensure the normal production and safe operation of high-voltage power corridors.However,the current patrols are mainly based on manual patrols.However,the patrol inspection results during the patrol are constrained by many factors such as the staff’s business level,responsibility,and mental state.The power corridor has a large space,and the internal environment is complex,the environment is relatively poor,and the air is highly humid.It contains combustible gas.Therefore,the use of detection robots instead of manual inspections has the advantage of being able to overcome the differences in test results due to different working experience,mental state,and environmental complexity in the manual inspection process.The working hours are not constrained and the testing standards will remain consistent,to ensure the accuracy of inspection results.Because the working environment is under the conditions of all-weather,strong electromagnetic and other complex environments,it requires the detection robot to have the characteristics of strong adaptability,high reliability,flexible control,fast data transmission,and strong anti-interference.In view of the above problems,this paper studies the key issues such as robot control system,wireless communication and energy consumption.the main research work is as follows:1)Briefly describes the domestic and international research status of cable tunnel detection robots,the background and significance of the topics,analyzes the problems,and proposes solutions.2)According to the requirements of the detection robot system,the overall design and scheme construction of the intelligent detection robot control system for high-voltage power tunnels,the selection of various functional modules and the design of relevant hardware circuits are performed.The STM32F407VET6 microcontroller was used as the core to construct the hardware part of the high-voltage power tunnel intelligent detection robot.The tunnel detection scheme was constructed,and each module was introduced in detail and related to the design.3)Determine the threshold of the corridor environmental monitoring program.According to the image that can characterize the insulation performance of the cable joint of the corridor,determine the insulation performance of the cable joint.To solve the problem of too large data storage,proposed the “three-point sampling rising trend judgment method” and "more than threshold upload method",the remote monitoring center’s warning function and alarm function are designed to reduce remote data redundancy,and build a remote monitoring system communication program.4)In order to effectively solve the problem of energy consumption of the robot,the energy storage device in the robotic energy storage battery system is configured for capacity,the energy consumption model generated during the operation of the robot is established,and the energy consumption of the robot is analyzed from the mathematical point of view,and the energy consumption is considered.The energy storage battery is configured to determine the configuration of the energy storage battery.5)Design the software system of the high-voltage power corridor detection robot,including the detection of the robot software design flow,design the client/server mode wireless control system on-site PC monitoring interface based on Visual Basic 6.0,and verify the feasibility of the system design through system function test. |
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