| Substation is an important part of the power grid,and its normal operation plays an important supporting role for the power grid.In order to ensure the normal operation of the substation,frequent daily inspections of the equipment in the station are required.At present,the inspection work mostly uses manual inspection or drone inspection.Among them,the manual inspection has a large workload,low efficiency,and is prone to misjudgment.The inspection of drones has the problem of low inspection accuracy and the inability to detect dangerous situations in time.Therefore,the method of using robot inspection is proposed.In order to realize the robot inspection of the substation,the substation inspection robot was designed and developed.The specific work includes: formulating the overall design scheme of the substation robot,completing the design of the robot chassis and internal modules,and determining the selection of hardware equipment according to the design scheme.There are inspection and monitoring cameras,drive motors,low-level controllers,two-dimensional laser radar,etc.;complete substation robot lower-machine drive,environment awareness,path planning system working mode and human-computer interaction part design,through programming to achieve related functions.In order to verify the performance of the substation inspection robot developed in this paper,its motion performance was tested,including: control performance,linear performance,running speed performance,right angle turning performance,climbing performance,continuous step performance and obstacle performance.Content testing.Through the experimental research,the performance parameters of the substation inspection robot developed were obtained.In order to realize the mapping function of the substation inspection robot,three kinds of open source 2D laser SLAM algorithms are analyzed.Through the experimental comparison,the Cartographer algorithm with the highest construction accuracy is selected to realize the mapping function of the substation inspection robot,and the self-built of the path planning test is established.Map database.In order to realize the positioning function of the substation inspection robot,the current mainstream positioning methods are analyzed,and the analysis positioning methods are tested and compared to determine the positioning accuracy of each algorithm.Finally,the adaptive Monte Carlo positioning with the highest positioning accuracy is selected.The method realizes the positioning function of the substation inspection robot.In order to realize the path planning of the substation inspection robot,the path planning system is divided into two parts according to the working mode of the substation inspection robot path planning system.The front-end work is to solve the shortest distance between any two stops,and the back-end work is to combine the front-end work solution sets to get the shortest inspection route.First of all,the front end of the path planning system,focusing on the Floyd algorithm,Bellman-ford algorithm and Dijkstra algorithm.For the back-end work of the path planning system,the ant colony algorithm,simulated annealing algorithm and genetic algorithm are mainly studied.Then,the system front-end algorithm is used to solve the shortest distance simulation between any two stops in the stop group,and the Dijkstra algorithm is used as the system front-end work according to the path length of the test plan and the performance of the path planning effect judgment algorithm.algorithm.The system back-end algorithm performs the performance simulation test of the combined front-end working algorithm to solve the set speed.According to the running time,the performance of the algorithm is judged.Finally,the genetic algorithm is selected as the system back-end working algorithm.Finally,for the Dijkstra algorithm,the problem of not applying a large number of path nodes and the long running time of the algorithm is improved.The Dijkstra algorithm is improved,and the improved Dijkstra algorithm is compared with the traditional Dijkstra algorithm and A* algorithm.Testing improves the performance of the Dijkstra algorithm.The conclusions obtained prove that the improved Dijkstra algorithm performs better in the front end of the system,and finally the Dijkstea algorithm is improved as the front-end working algorithm of the substation inspection robot path planning system.In order to verify the performance of the substation inspection robot and its path planning system designed and developed in this paper,the test was verified in five different environments.The test includes four parts: environmental map acquisition,robot positioning,theoretical planning path and actual driving path.In the theoretical planning path part,the six alternative algorithms selected in the previous paper are tested and tested.The performance of the test algorithm in actual use is compared with the simulation test.The performance is the same.At the same time as the path planning test,the sensors carried by the robot were tested,and the influence of the complex environment on the work of the substation inspection robot was analyzed.The test results show that the path planning system designed in this paper can quickly and accurately plan the inspection path in different environments.The developed robot can accurately and completely execute the path planning route under the complicated road condition environment that meets its mechanical performance.The overall effect of the actual driving route of the robot reaches the path planning requirements.The robot performs the inspection in strict accordance with the stopping sequence.During the inspection,there is no phenomenon of missed detection,wrong stop and collision and obstacles.The performance of the six alternative algorithms in actual use is the same as that in the simulation test.The sensors carried by the robot can work normally,and the correct inspection information can be fed back to the background staff for the background staff to judge the operation of the power equipment.Status,and whether there are obstacles in the environment around the robot.The experimental results show that the substation inspection robot path planning system designed in this paper can adapt to different substation path planning environments.The substation inspection robot developed can complete the inspection work under the complicated road conditions that meet its mechanical performance.It is expected to conduct inspections on different substation environments.The paper has 95 pictures,54 tables,and 133 references. |
PDF Full Text Request