自主行进成套配电箱可翻转运转车的系统设计研究

Research on System Design of Reversible Running Vehicle with Self-propelled Complete Distribution Box

自主行进成套配电箱可翻转运转车系统设计的主要目的是实现载有多种硬件模块运转车系统的自动避障测距行进功能,系统具有简单、经济、可靠、智能化的特点,适合应用于配电柜在生产试验场所各小室短距离自动转运,为配电柜生产检测企业频繁流转柜体提供便利。本设计运用了多种传感器测量技术进行避障和测距控制,人工势场法全区域覆盖局部路径规划行进路径,完成道路行进作业的自主实现。成套配电箱可翻转运转车系统硬件电路设计部分包含了控制器子系统、动力和电力子系统、传感探测子系统三部分的方案论证和选择;软件设计部分对于实现系统功能的运转车系统主程序和各个子程序绘制出软件流程图并进行了理论分析。

The main purpose of the system design of the reversible running car with self-propelled complete distribution box is to realize the automatic obstacle avoidance and distance measurement running function of the running car system with various hardware modules.The system has the characteristics of simplicity,economy,reliability and intelligence,and is suitable for short-distance automatic transfer of distribution cabinets in the small rooms of production test sites,which provides convenience for the frequent transfer of cabinets by distribution cabinet production and testing enterprises.In this design,a variety of sensor measurement technologies are used for obstacle avoidance and distance measurement control,and the artificial potential field method covers the whole area and the local path to plan the travel path,thus completing the independent realization of road travel.The hardware circuit design of the turnable running car system with complete distribution box includes the demonstration and selection of three parts:the controller subsystem,the power and power subsystem,and the sensor detection subsystem.In the software design part,the software flow chart of the main program and each subprogram of the running car system to realize the system function is drawn and analyzed theoretically.