Research Of Intelligent Inspection Robot Control System For Railway Traction Substation

With the rapid development of China railways,the traction substation plays an extremely important role as the hub for transforming voltage and transmitting electric energy in the traction power supply system.The stable operation of the power equipment in the traction substation not only affects the normal operation of the high-speed railway but also relate to the safety of people’s lives and property.Daily inspection for power equipment in the traction substation is an important measure to prevent power equipment failure and to ensure that the traction substation can stably deliver electric energy to the electric locomotive.At present,the indoor patrol inspection of most traction substations in China still adopts the traditional manual inspection method.The manual inspection efficiency is low,the work intensity is large,and the inspection is not in place.Therefore,aintelligentinspection robot of railway traction substation is designed.The inspection robot can replace workers have important significance for achieve the automatic indicator status and instrument valueas well as the automatic operation of the buttons,switch and knob on the power distribution cabinet.This article takes the indoor power distribution cabinet of traction substation as the research object.Firstly,the research status of intelligent patrol robots at home and abroad is analyzed.Based on the needs of enterprises,the intelligent patrol robot is proposed as the center and combined with the overall control scheme of servo control technology,image recognition technology and sensor technology,the hardware and software of the inspection robot control system are designed.In the aspect of control system hardware,the hardware framework of the control system is designed,and the hardware of the industrial tablet computer,PLC,servo motor,industrial camera and other hardware in the control system is calculated and selected,and the inspection robot is completed according to the result of the selection.The overall electrical system isdesignedand the electrical control cabinet is produced.In the aspect of control system software,the joint control method of industrial tablet computer as the upper computer and PLC as the lower computer is adopted.On this basis,the software framework of the control system is designed.The PC software program adopts the modular idea.The C# programming language is used to complete the communication design,automatic inspection,automatic operation and other modules,and the human-computer interaction interface is designed.The lower computer software program is written by ISPSoft software.The control of the mechanical motion mechanism on each axis and the communication program with the host computer are designed.At present,research of intelligent inspection robot control system for railway traction substation has completed the overall design and production.In order to ensure the stable operation of the inspection robot,a large number of debugging and testing are performed on the inspection robot,including the stability of the operation of each axis.Debugging and solving the problem of sticking when the robot moves,and actually testing the automatic operation of the inspection robot.The test results show that the robot can accurately find the component position and complete the operation task after rough positioning and fine positioning.