燃煤电站输煤廊道挂轨巡检智能机器人自动巡检系统设计与实现

Design and implementation of automatic inspection system of intelligent robot for rail hanging inspection in coal conveying corridor of coal-fired power station

为了提高燃煤电站输煤廊道挂轨巡检机器人巡检系统软件和硬件部分衔接水平和运行流畅度,缩短运行延迟时间,提出燃煤电站输煤廊道挂轨巡检智能机器人自动巡检系统设计与实现。在硬件设计上,以原有的系统框架作为基础,在主控制器与驱动器之间增加一个微控制器,连接角度传感器和超声波测距传感器,在RS232协议与DHCP无线传输协议的支持下,实现系统与外部的通信以及系统内部软件与硬件之间的通信。在软件设计上,约束巡检路径的偏向角和高度,裁剪路径并平滑处理,得到最小路径,输入到自动巡检模块中,在自动巡检模式的支持下完成巡检工作。实验结果表明:设计的自动巡检系统在输煤廊道复杂环境中路径规划更合理,运行过程中延迟时间小,系统运行流程性得到了提升。

In order to improve the connection level and operation fluency of the software and hardware of the inspection system of the rail hanging inspection robot in the coal-fired power station,and shorten the operation delay time,the design and implementation of the automatic inspection system of the intelligent robot in the rail hanging inspection of the coal-fired power station is proposed.In the hardware design,based on the original system framework,a microcontroller is added between the main controller and the driver to connect the angle sensor and ultrasonic ranging sensor.With the support of RS232 protocol and DHCP wireless transmission protocol,the communication between the system and the outside and between the software and hardware in the system are realized.In the software design,the deflection angle and height of the inspection path are constrained,the path is cut and smoothed to obtain the minimum path,which is input into the automatic inspection module to complete the inspection work with the support of the automatic inspection mode.The experimental results show that the designed automatic inspection system has more reasonable path planning in the complex environment of coal conveying corridor,less delay time in the operation process,and the operation process of the system has been improved.