Wheel-track composite substation inspection robot autonomous obstacle-surpassing system and control method

Abstract

The invention discloses an autonomous obstacle surmounting system and a control method for a wheel-track composite substation inspection robot. The arm unit and the driving motor unit, the crawler walking unit includes left and right walking crawlers, the left and right walking crawlers are fixed on both sides of the control box, and the left and right walking crawlers are respectively connected to a driving motor. The arm unit is connected to the arm drive motor, and the left and right traveling wheels are respectively fixed on both sides of the control box. The control system includes an industrial computer and a sensor group connected to it. The industrial computer is connected to multiple motor drivers, and each motor driver is connected to the corresponding drive motor. The invention can automatically switch the wheel type or the crawler walking mode according to the needs, and satisfies the needs of patrol inspection under different road conditions of the substation.

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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