Substation Patrol Robot Walking And Positioning Research On Optimization Methods

With the development of intelligent technology for power systems,the inspection of power systems has gradually been automated and intelligent.Power system inspection robots have many applications in the domestic power grid,but they also expose some problems.Due to a lot of interference in the substation,the robot will run off the track or have a large positioning error.Aiming at the navigation and positioning problems,this paper focuses on the transmission control and positioning technology of the substation inspection robot.First,according to the characteristics of the walking transmission mechanism of the inspection robot,a mathematical model of the two-wheel differential transmission mechanism is established.Based on the mathematical model,the reasons for the large deviations of the robot during operation are analyzed,including uneven ground and navigation The magnetic stripe is susceptible to interference from the external environment,and the response speed of the traditional correction algorithm is slow.In this paper,solutions to these problems are given separately.For uneven road surface or long-term rear wheel wear,this paper proposes a method of balanced detection using an elastic floating mechanism;for the problem that the navigation magnetic strip is vulnerable to interference,this paper proposes The weighted calculation method of the detection points of the magnetic navigation sensor is adopted to eliminate the problem that the single-point detection is easily disturbed;for the problem of the slow correction algorithm,this paper uses a fuzzy control-based parameter self-tuning PID control algorithm.Second,this paper proposes an improved positioning algorithm for the phenomenon that the inspection robot has a large positioning error during walking.Using RFID technology to assist magnetic navigation for robot positioning,first of all,according to the positioning requirements of the inspection robot RFID,an RSSI positioning algorithm that simultaneouslydetects 4 tags is used to find the distance between the robot and the four tag points,and then use the maximum Likelihood estimation and least squares are used to calculate the robot coordinates to achieve precise positioning.It better solves the problem of low detection efficiency caused by inaccurate positioning in current inspection robots.The positioning accuracy is improved,and the inspection speed and inspection quality of the inspection robot are effectively improved.Third,on the basis of verifying the feasibility of the above method through simulation,we also designed a physical object for verification.Through multiple tests,the deviation control of the robot is basically controlled within 8 mm,which is less than ±10 mm specified by the robot standard.The positioning error is controlled within 3.5 mm,which is smaller than the 5 mm specified in the robot standard GB2013-19.