一种可升降式变电站室内巡检机器人控制系统设计

Design of a Control System for an Indoor Substation Patrol Robot with Lifting Platform

针对变电站室内环境复杂,人工巡检强度大,传统巡检方式覆盖范围小、效率低的问题,研究了一种可升降式变电站巡检机器人。首先,根据变电站室内环境和巡检点的位置信息,设计了一种改进Floyd全局路径规划算法以搜索执行巡检任务的最优路径,提升了机器人执行巡检任务的效率。其次,设计了一种基于欧拉数值积分的轨迹跟踪控制算法,提升了机器人的控制精度。最后,设计了升降平台和摄像头云台的控制方法。为了验证该控制系统方案的可行性,在室内环境进行了实验,结果表明机器人在执行完多次巡检任务后位置累积误差范围为10 cm,可以准确采集到电力设备图像数据,满足变电站巡检任务要求。

As the complex environment of indoor substation,the coverage of traditional inspection methods is limited with low efficiency.In order to release human resources,an indoor patrol robot with lifting platform is designed to monitor substation facilities.Firstly,an improved Floyd path planning algorithm is designed to search for the optimal path of the inspection task,which improves the patrol efficiency.Secondly,a trajectory tracking controller based on Euler numerical integration method is designed to improve the control precision of the robot.Finally,a control method of lifting platform and camera is proposed.To verify the feasibility and performance of the proposed control system,both simulation and experimental results are presented and discussed,showing the good performance of the trajectory tracking controller.After the robot performs multiple inspection tasks,the cumulative position error fluctuates within10 cm,and the image data of the power equipment can be accurately collected,which meet the substation inspection task requirement.