室内巡查挂轨机器人轨线智能跟踪方法研究

Research on intelligent tracking method of rail tracking robot for indoor inspection

传统的人工跟踪方法在分析室内挂轨工作状态时,有很大的局限性,难以在短时间内精准地完成跟踪。针对上述问题研究了一种新的跟踪方法,引用机器人技术和智能技术。主要对跟踪方法的工作结构进行设计,共分为基站计算机、移动体控制系统、人机交互系统、监测系统4层,给出了每一层控制系统的结构图,并对其进行阐述。分析了智能跟踪方法的工作流程,由发送指令、控制指令、分析数据、保存数据、查找ID、更新数据、信息上传七步组成。从耗费成本、工作效率和检测误差3方面与人工跟踪方法进行实验对比,实验结果表明,智能跟踪方法可以有效缩短消耗成本、降低检测误差、提高工作效率、减少人工劳动强度,该方法对于电力系统正常工作运行有积极的促进作用。

The traditional manual tracking method has great limitations in analyzing the indoor hanging rail working state,and it is difficult to accurately complete the tracking in a short time.A new tracking method is studied for the above problems,citing robot technology and intelligent technology.It mainly designs the working structure of the tracking method,which is divided into four layers:base station computer,mobile body control system,human-computer interaction system and monitoring system.The structure diagram of each layer control system is given and explained.The workflow of the intelligent tracking method is analyzed,which consists of sending instructions,controlling instructions,analyzing data,saving data,finding IDs,updating data,and uploading information.Experiments are compared with manual tracking methods in terms of cost,work efficiency and detection error.The experimental results show that the intelligent tracking method can effectively shorten the consumption cost,reduce the detection error,improve the work efficiency and reduce the labor intensity.The method is for the power system.Normal work and operation have a positive effect.