基于ROS的变电站室内巡检机器人的研究与设计

Research and Design of Indoor Inspection Robot in Substation Based on ROS

为了解决变电站室内人工巡检方式效率低、人工成本高、巡检精度低等问题,更好地促进数字化、智能化电网的发展,本文设计了一套适用于变电站室内巡检作业的机器人系统,该机器人系统包含巡检机器人终端、巡检专网、数据库、远程管理终端四部分,同时对机器人室内定位算法进行了研究,设计了机器人硬件结构,开发了机器人的控制系统,并对机器人的定位准确性、可靠性、安全性进行了模拟仿真实验和现场运行实验。实验结果显示:本文设计的巡检机器人可以很好地适应变电站室内环境,并且该机器人可以实现精确的定位与导航,对变电站室内设备运行情况进行精确巡检与故障预警,满足变电站室内巡检作业要求。最后对本次研究工作进行了总结,并提出了下一步研究计划。

In order to solve the problem of low efficiency,high labor costs,and low inspection accuracy associated with manual indoor inspections in substations,and to better promote the development of digital and intelligent power grids,this paper proposes a robotic system suitable for indoor inspection operations in substations.The robotic system consists of four components:the inspection robot terminal,the dedicated inspection network,the database,and the remote management terminal.The paper also focuses on the research of indoor positioning algorithms for the robot,designs the hardware structure of the robot,develops the robots control system,and conducts simulation experiments and field tests to evaluate the robot's positioning accuracy,reliability,and safety.The experimental results show that the designed inspection robot can adapt well to the indoor environment of substations.It achieves precise positioning and navigation,accurately inspects and predicts faults in the operation of indoor substation equipment,and meets the requirements of indoor inspection operations in substations.Finally,the research work is summarized,and future research plans are proposed.