| 引用本文: | 邬蓉蓉,黎大健,覃 剑,兰 依.变电站室内柔索驱动巡检机器人系统设计与运动学分析[J].电力系统保护与控制,2021,49(10):89-97.[点击复制] |
| WU Rongrong,LI Dajian,QIN Jian,LAN Yi.System design of an indoor inspection robot driven by a flexible cable in a substation[J].Power System Protection and Control,2021,49(10):89-97[点击复制] |
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| 摘要: |
| 针对变电站室内巡检机器人在复杂场景下运动系统误差大导致巡检点位覆盖范围窄的问题，提出一种柔索驱动巡检机器人系统方案。综合考虑变电站巡检路线特点，从伺服驱动系统、运动控制系统和机器视觉系统三个方面进行了巡检机器人的系统硬件设计，并从运动控制软件和视觉系统软件进行了系统软件设计。同时建立柔性承载机构的运动学模型，采用该模型进行了水平和垂直定点巡检轨迹仿真。经南方电网某66 kV变电站示范应用表明，所设计的柔索驱动巡检机器人水平与垂直运动误差可控制在0.03 mm内，有效提高了运动系统精度，在变电站室内巡检中应用前景广阔。 |
| 关键词: 变电站 巡检机器人 运动学模型 机器视觉 柔索机器人 |
| DOI：DOI: 10.19783/j.cnki.pspc.200881 |
| 投稿时间：2020-07-25修订日期：2020-11-02 |
| 基金项目:国家自然科学基金重点项目资助(51437003); 广
西电网科技项目资助(GXKJXM20180356) |
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| System design of an indoor inspection robot driven by a flexible cable in a substation |
| WU Rongrong1,LI Dajian1,QIN Jian2,LAN Yi3 |
| (1. Electric Power Research Institute of Guangxi Power Grid Co., Ltd., Nanning 530023, China; 2. Guangxi Power Grid Co., Ltd.,
Nanning 530023, China; 3. Nanning Power Supply Bureau of Guangxi Power Grid Co., Ltd., Nanning 530031, China) |
| Abstract: |
| There is a problem of large motion system error of an indoor inspection robot in a substation under complex conditions. This results in narrow coverage of inspection points. This paper proposes a scheme for a cable-driven inspection robot system. We consider the characteristics of the inspection route of the substation, and the system hardware of the inspection robot is designed in detail from the three aspects of the servo drive, motion control and machine vision systems. The system software is designed using motion control and visual system software. A kinematics model of the flexible carrying mechanism is established. A horizontal and vertical fixed-point inspection track simulation is carried out. The demonstration application of a 66 kV substation in the China Southern Power Grid shows that the horizontal and vertical motion errors of the flexible cable-driven inspection robot designed in this paper can be controlled within 0.03 mm. This effectively improves the accuracy of the motion system and has broad application prospect in indoor inspection of substations.
This work is supported by the Key Project of National Natural Science Foundation of China (No. 51437003) and the Science and Technology Project of Guangxi Power Grid (No. GXKJXM20180356). |
| Key words: substation inspection robot kinematics model machine vision flexible cable robot |
