Research Of Substation Inspection Robot

As one of the core of power system,substation will be destroyed by many factors during its operation,resulting in its insulation degradation.Periodic inspection of equipment is one measure for normal operation of substation equipment.Because of the low safety and low rate of arrival in manual inspection,substation inspection robot instead of manual inspection will be the inevitable trend of smart grid development.This paper studies the motion system of substation inspection robots.The system can choose GPS navigation or magnetic navigation method to complete the inspection task according to the preset optimal path.This research mainly consists of four parts:the design and selection of the system,the path planning and motion analysis system algorithm of Dongping substation,the hardware circuit design of the system and design of the system software.The details are as follows:Firstly,the function of the system is analyzed and a typical chip MKL26 is used as the main control chip.The navigation mode magnetic navigation,the ultrasonic wave is used as the obstacle avoidance method of the system.The LCD display the location information.The Mecanum wheel builds a motion platform for the architecture and we carries on the kinematics analysis about it.Secondly,According to the plane model diagram of Dongping substation,the environment model of the path planning is established,which is performed using the optimized ant colony algorithm.We establish motor mathematical model of motion system and use the incremental PID algorithm as a speed control algorithm,and then the simulation analysis is completed in MATLAB simulink environment.Thirdly,the next step is designing system hardware and writing the system software according to the hardware.The system programmings include LCD display subroutines,speed control subroutines,ultrasonic obstacle avoidance subroutines,magnetic navigation subroutines,GPS subroutines,and RF subroutines.Finally,through the system debugging,the robot achieves the desired function.