Design Of Power Intelligent Inspection Robot System

With the rapid development of our country’s industry,the demand for electric energy has also expanded rapidly.It is particularly important to maintain the stable operation of the power system.At present,the inspection and maintenance of the key parts of the power system such as substations and power plants all adopt the manual inspection method.The traditional manual inspection method faces many problems.In order to solve these problems,this thesis develops a set of power intelligent inspection robot system to replace the traditional manual inspection method.First of all,according to the key places of electric power such as substation and booster station,the on-the-spot investigation is carried out to analyze the inspection requirements of various electric power environments,and determine the motion performance parameters of the robot and the functional requirements of the intelligent inspection robot.The inspection robot is divided into four parts:structure design,navigation method,hardware design and software design,and the overall design scheme of each part is determined.Secondly,the robot navigation uses the topological graph method to map the actual power environment,and combines Floyd path planning algorithm to realize the shortest path search in the environment.Aiming at the problems of low accuracy and poor stability of current path following algorithms,a navigation and positioning algorithm combining vision and laser is proposed;In the navigation process,the accuracy of vision and laser navigation methods are evaluated respectively,and the evaluation results are normalized.According to the evaluation results,the two navigation methods are fused to obtain more accurate and stable robot pose information.Thirdly,the wheeled robot platform,navigation and control system and robot charging room in the hardware system of intelligent inspection robot are designed.On this hardware platform,the robot workflow is developed,and the navigation control software running on the embedded platform,the upper computer software running on the human-computer interaction computer,and the image recognition algorithm running on the background server are developed.Finally,the navigation positioning method,infrared image device recognition algorithm and visible light meter recognition algorithm are tested,and the quantitative effect data are obtained.The software and hardware of each module of the system are debugged,and the field tests are carried out in substations and booster stations to verify the feasibility,stability and practicality of the power intelligent inspection robot system developed in this thesis.