配电网电缆通道巡检机器人越障机构与控制系统设计

Design of obstacle-crossing mechanism and control systemfor cable channel patrol robot in distribution network

针对配电网地下电缆沟的环境特征,研制了配电网电缆沟巡检作业机器人。详细进行了巡检机器人机械方案设计,并进行了巡检机器人运动分析,从性能和越障能力两方面进行模型分析,计算得到巡检机器人最佳参数;对巡检机器人控制系统进行设计,并利用改进A~*算法设计了巡检机器人越障控制策略。由工控机运行控制策略,实现对机器人巡检、传动、感知和动力4个子系统的控制,指导机器人完成电缆通道内部巡检作业。对设计的巡检机器人进行实验验证,经水平直线实验、爬坡实验、越障实验验证,该巡检机器人可满足配网电缆明沟内复杂环境下巡检作业的要求。

Based on the structured environmental characteristics of cable trenches in underground distribution networks,the basic design of the control system is systematically analyzed,and a robot capable of inspecting cable trenches in distribution networks is developed.Firstly,the mechanical scheme design of the inspection robot is analyzed in detail,and the motion analysis of the inspection robot is carried out.Model analysis is conducted from both performance and obstacle crossing ability,and the optimal parameters of the inspection robot are calculated.Based on this,a control system for the inspection robot is designed,mainly consisting of a switch and an industrial computer.An obstacle crossing control strategy for the inspection robot is designed using improved A*algorithm.The industrial control computer runs the control strategy to control the four subsystems of robot inspection,transmission,perception,and power,guiding the robot to move and completing the final internal inspection work of the cable channel.Finally,experimental verification is conducted on the designed inspection robot.Through horizontal and straight line experiments,climbing experiments,and obstacle crossing experiments,it is found that the inspection robot can meet the requirements of inspection operations in complex environments within the open trench of distribution network cables.