Autonomic barrier-crossing system for wheel-track transformer station inspection robot and control method thereof

Abstract

The invention discloses an autonomic barrier-crossing system for a wheel-track transformer station inspection robot and a control method thereof. The system includes a chassis and a control system. The chassis includes a robot control box body, a crawler belt running unit, a wheel running unit, a barrier-crossing supporting arm unit, and a drive motor set. The crawler belt running unit includes a left running crawler belt and a right running crawler belt. The left running crawler belt and the right running crawler belt are fixed at the two sides of the control box body respectively, and are separately connected to drive motors. The wheel running unit includes a left running wheel and a right running wheel. The running wheels are connected to supporting arm drive motors. The left running wheel and the right running wheel are fixed at the two sides of the control box body respectively. The control system includes an industrial control computer and a sensor set connected therewith. The industrial control computer is connected to multiple motor drivers, and each motor driver is connected to one corresponding drive motor. The autonomic barrier-crossing system can be automatically switched to a wheel type running mode or a crawler belt type running mode on the basis of needs, thereby satisfying inspection demands of a transformer station in different road conditions.

Description

technical field [0001] The invention relates to an autonomous obstacle surmounting system and a control method for a wheel-track compound substation inspection robot. Background technique [0002] In recent years, with the development of science and technology, the use of substation inspection robots to automatically complete substation daily equipment inspections, infrared temperature measurement, and equipment status inspections has become an important auxiliary means for substation equipment inspections. However, the current substation inspection robot has the following problems: [0003] 1. Substation inspection robots mainly conduct inspections in road areas, and it is difficult to conduct all-round inspections of equipment in substations; [0004] 2. In a general substation, the equipment area and the road are usually not on the same level, and the equipment area is usually an unstructured road surface, such as grass, gravel road, etc. If the robot enters the equipmen...

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Problems solved by technology

[0003] 1. Substation inspection robots mainly conduct inspections in road areas, and it is difficult to conduct all-round inspections of equipment in substations;

[0004] 2. In a general substation, the equipment area and the road are usually not on the same level, and the equipment area is usually an unstructured road surface, such as grass, gravel road, etc. If the robot enters the equipment area from the main road to perform inspections, the robot needs to be able to Autonomously climb over the curb and enter the equipment area for operation. For the wheeled robot platform, due to its own characteristics, the robot cannot enter the equipment area for operation

[0005] Some existing crawler robots include crawler robots with two swing arms, such as the invention patent of CN101492072A "a mobile robot and its method for overcoming obstacles", and crawler robots with four swing arms, such as patent No. ZL200520075351.5 utility model patent "composite mobile mechanism of autonomous obstacle-surmounting robot", although the robot has a certain ability to overcome obstacles, but it does not mention the realization of the autonomous obstacle-surmounting system and autonomous obstacle-surmounting method, so it cannot perform autonomous obstacle-surmounting. Obstacle surmounting, and due to the low operating efficiency of a single crawler robot, it is difficult to meet the requirements of efficient inspection of the robot from the substation to the road area

Due to the special requirements for the safety of power equipment in substations and the requirements for autonomous operation, positioning accuracy and operational reliability of substation inspection robots, the existing crawler robot systems cannot be directly applied to substation inspection robots.

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