Research On Inspection Technology And Design Of Mechanical System Of Substation Intelligent Inspection Robot

With the rapidly expansion of Chinese grid system and the upgrading and transformation of substation to intelligence,intelligent inspection robots are playing an increasingly important role in the inspection work of substations.In the design of the inspection robot system,it is particularly important to design the mechanical system of the robot,especially the design of the movement system,the navigation and positioning algorithm and the pointer instrument reading algorithm.As an important part of the inspection robot hardware and software,the mechanical system is the main carrier of the inspection robot inspection system.The navigation technology and the instrument reading technology are the technical means for the robot to perform the inspection work.For the above key technologies,this article focuses on the following five parts.Firstly,the research background and significance of inspection robots are introduced.The development status of inspection robots at home and abroad is analyzed,the key technologies of inspection robots are defined,and the market prospect and development trend of substation inspection robots are analyzed.Second,the overall scheme design of inspection robot.The system composition and main functions of the inspection robot are summarized,the design requirements for the inspection robot are defined,and the implementation scheme of the key technologies of the inspection robot is summarized.After a comparative analysis,the four-wheel drive and four-wheel steering kinematic precept of the robot,the scheme of visual navigation technology based on guiding line recognition and instrument reading technology program based on improved ORB and Hough transform algorithms are determined.Third,the mechanical system design of inspection robot.Comparing and analyzing different driving schemes,the drive scheme of wheel hub motor driving and steering motor steering is determined.The selection of relevant components is completed according to the performance parameters of the inspection robot and a three-dimensional model is established.The finite element analysis method was used to analyze the statics of the key components of the sports system and optimize the design according to the analysis results.Drawing the engineering drawings according to the optimization results to manufacture and assemble prototype.Finally,the kinematics and dynamics model of the inspection robot was established and analyzed.Fourth,the software design of inspection system.The system software function of the mobile station and background monitoring station of the inspection robot is modularized,and the visual navigation algorithm based on the guideline recognition and the pointer instrument recognition and reading algorithm are developed,and the implementation flows of the algorithms are described in detail.Among them,an improved ORB feature matching algorithm and center-constrained Hough transform algorithm with high accuracy and real-time are proposed for pointer instrument reading.A similar feature triangle method based on ORB feature matching pair is proposed to determine the pointer center.Fifth,experiment of the inspection robot and the analysis of experimental results.The performance parameters of the inspection robot prototype are tested,and the accuracy and real-time performance of the visual navigation algorithm and the pointer instrument recognition and reading algorithm based on guideline recognition are verified.The experimental results show that the performance parameters of the inspection robot meet the requirements,and the average relative error of the navigation parameters of visual navigation algorithm is less than 4%.The maximum deviation of the pointer instrument reading algorithm for the pressure gauge in the experiment is 0.01 MPa.The real-time performance of the algorithm is 20.48% higher than that of the existing algorithms.All of them meet the requirements of inspection task.