| In construction of smart grids,Power smart intelligence has great significance.Cable tunnels are an important part of the power grid.For a long time,the inspections are performed manually.The harsh environment poses a threat to the personal safety of inspectors,and the efficiency and quality of manual inspections cannot be guaranteed.In order to monitor the all-round inspection of the cable tunnel,the inspection robot technology emerged at the historic moment.After many years of development,many achievements have been made,but there are still some problems that have not been solved well.This paper studies the overall scheme of the cable tunnel inspection robot,the control system of robots,and the communication system,as shown below:Based on the requirements analysis of the cable tunnel inspection task,the composition and function of the comprehensive system for the cable tunnel inspection and the composition and function of the inspection of robot control system were clarified.and the overall scheme design of the cable tunnel inspection robot was completed.The overall scheme design of the cable tunnel inspection robot was completed.Based on NVIDIA Jetson TX2 and STM32F103 embedded processors,the hardware platform of the inspection robot control system was completed.The concept of power supply for inspection robots was proposed for the first time,and an power supply strategy suitable for various inspection modes/tasks was designed.A motion control scheme suitable for a variety of cable tunnel terrains was designed using a suspended rail type track and a robot differential drive mechanism.Based on RFID and inertial navigation technology,a fusion positioning scheme is designed to solve the problem of difficult positioning in the tunnel.Based on the CAN bus,a bus communication scheme suitable for the inspection robot control system is designed,including the physical layer,data link layer,transmission layer,and application layer.The data and control instructions of each device of the inspection robot control system are coded based on the bus communication protocol.The inspection control task is completed by connecting the various modules/equipment of the control system through the bus communication.And the expandability of the embedded control system of the inspection robot is strengthened.Through the research above,the intelligence of the motion,power supply,positioning,and communication of the cable tunnel inspection robot was designed,and the inspection strategy of the inspection robot was explored.Externally pressurized gas bearing has been widely used in the field of aviation,semiconductor,weave,and measurement apparatus because of its advantage of high accuracy,little friction,low heat distortion,long life-span,and no pollution.In this thesis,based on the domestic and overseas researching. |
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