变电检修智能运载机器人系统设计与仿真研究

Design and Simulation Research of Intelligent Carrier Robot System for Substation Maintenance

为了提升变电检修智能化作业水平,减轻人工作业劳动强度,降低人员作业风险。文章提出了一种变电检修智能运载机器人系统设计方法,开发了机器人虚拟样机模型,着重对机器人的硬件控制系统进行设计,特别是针对机器人的运动功能、寻迹功能、避障功能等重要模块进行分析,最后在硬件设计方案的基础上,以单片机为机器人主控芯片,在PROTUES软件中进行仿真研究,分别对智能运载机器人的运动功能、寻迹功能、避障功能进行仿真研究,仿真结果表明所设计的系统能够较好的实现上述功能,文章对变电检修智能运载机器人系统设计与仿真研究为物理样机系统开发优化设计奠定了理论基础,同时,对于变电检修智能运载机器人实用化研究具有重要理论意义与实际应用价值。

In order to improve the level of intelligent operation of substation maintenance,reduce the labor intensity of manual operation,and reduce the risk of personnel operation.This paper proposes a system design method for a substation maintenance intelligent carrier robot,develops a virtual prototype model of the robot,and focuses on the design of the robot's hardware control system,especially for the robot's motion function,tracking function,The important modules such as obstacle avoidance function are analyzed in depth.Finally,on the basis of the hardware design scheme,the single-chip microcomputer is used as the main control chip of the robot,and simulation research is carried out in PROTUES software.The obstacle avoidance function is simulated and studied.The simulation results show that the designed system can better realize the above functions.The design and simulation research of the intelligent carrier robot system for substation maintenance in this paper has laid a theoretical foundation for the development and optimization of the physical prototype of the system.The practical research of intelligent carrier robot for substation maintenance has important theoretical significance and practical application value.