Design And Development Of Indoor Track Inspection And Operation Robot Control System

With the continuous improvement of the level of popularization of electric power and the in-depth exploration of the field of artificial intelligence,the inspection of robots has gradually become a trend.Robot inspections can increase the frequency and efficiency of inspections.At the same time,by replacing manual inspections,it can also reduce manpower investment and ensure the safety of power personnel.Aiming at the environment and function requirements of indoor power distribution room inspection,an indoor track inspection and operation robot control system was designed and developed in this paper,and algorithms were designed and developed for instrument image recognition.The main research contents are as follows:The design of the functions and system technical indicators of the indoor track inspection and operation robot control system was carried out.A robot control system overall design scheme based on power line carrier communication was proposed.The design of the robot body pod mechanical structure,the power line carrier track,and the working arm are introduced.Through analysis and calculation,the core component selection of the control system is completed.The overall scheme design of the hardware circuit of the control system was completed,and the modular design is used to design the hardware circuit of each control system in detail.It mainly includes the master control system circuit,data acquisition system Circuit,arm and pod rotation control system circuit,trolley and telescopic rod control system circuit and operating robotic arm control system circuit,etc.Based on the analysis of the functional requirements of the control system software,the overall architecture design of the control system software and the design and development of each module were completed,mainly including: main control system software,data acquisition control system software,arm and pod rotation control system software,trolley and telescopic rod control system software and operating robotic arm control system software.In order to ensure the reliability of the communication between the robot body control system and the backend terminal,and the robot body master-slave control system,an application layer communication protocol was developed.Further,in response to the needs for instrument image recognition,a pointer-type instrument automatic recognition algorithm based on scale search was designed to read instruments with uniform or uneven scales.A distance-based reading calculation method is given.Using only the tip of the pointer and its two nearest graduations,it is possible to read different-shaped pointer meter representations.In addition,scale value recognition and scale value estimation were performed.The algorithm does not require prior information such as meter shape,scale position,scale value data,and whether the scale is uniform.The experiment proves the robustness and accuracy of the method.Finally,hardware debugging,software debugging,and software-hardware joint debugging of the control system were completed.Test results show that the inspection and operation robots could complete inspection tasks efficiently and safely.