Research On The Design And Control Of The Hard Hat Function Detection Car

With the increasingly tense construction land in urban centers,indoor substations are the best way to solve the contradiction between urban center power supply and substation use.Indoor transformer substations have extremely dangerous strong electricity,small space,many equipment and other objective environment and equipment needs regular maintenance.The laboratory developed an intelligent early warning safety helmet to alert the potential danger during the inspection process.However,smart warning safety helmets lack a function detection detection platform.In order to solve the above problems,this paper studies and designs an indoor substation smart car that can safely and efficiently replace the manual detection of the hard hat and has a relatively simple structure and function.This book mainly did the following researches:First,the system overview of the substation environment and the related research background and significance of the indoor substation robot,focusing on the domestic and foreign research status of the substation robot guidance method and path tracking control method are outlined in detail.Secondly,according to the overall functional requirements of the project,the rear wheel-driven rear-wheel-drive car layout structure was adopted.Choosing the right sensor to determine the layout of the vehicle and the dimensions of each part.Part of the parts model was established through SolidWorks.Taking into account the accuracy of the parts,the steering system and motor support of the “NXP” cup smart car were used.Build a prototype car.In addition,Freescale MK60 is used as the main control chip,and the path information is collected with the OV7725 digital camera to complete the design of the peripheral hardware circuit and the motor drive hardware.The IAR software is used as the development platform to complete the C language program design of the control algorithm.In addition,with the focus on the design of the path-tracking controller,a twodegree-of-freedom dynamic model of the vehicle is established.Based on the forwardlooking visual navigation considerations,the driver’s forward-looking driving behavior and fuzzy reasoning are not required.The characteristics of establishing an accurate mathematical model employs a fuzzy control method that simulates the driver’s visual preview.Using the path information acquired by the vision sensor,a set of path centers is obtained through fitting and prediction according to the information of the path guide wire,and then the heading deviation of the carriage and the lateral error of the preview point are taken as the input of the controller,and the lateral deviation and the yaw are The angular velocity and the centroid slip angle are the path tracking evaluation indicators,and the design of the car path tracking controller is completed.In the Simulink environment,a simulation experiment was performed on the designed controller to verify the tracking effect of the controller in the double shift and serpentine paths.In addition,in order to make up for the shortcomings of the classical Kalman filter,the Sage-Husa adaptive Kalman filter is used to obtain the key parameters of the car.Finally,the parts of the patrol car are printed and installed by 3D printing,and the actual vehicle test is performed on the simulated route laid in the indoor environment.The test results show that the designed path tracking controller can make the trolley run steadily along the guiding path,which verifies that the designed trolley can effectively complete the detection task of indoor high-voltage equipment.At the end of the article,the content of this topic was summarized as a whole and the next stage was prospected.