隧道巡检机器人的结构设计与运动控制

发布时间：2018-03-06 10:49

本文选题：巡检机器人　切入点：轮式驱动　出处：《沈阳航空航天大学》2017年硕士论文　论文类型：学位论文

【摘要】：电力系统的稳定安全运行对经济生活至关重要,伴随着高压电缆入地的隧道工程建设,高压电缆隧道的巡检维护成为又一项危险工作。本文研究内容是基于与沈阳电力局合作开展的高压电缆隧道巡检项目展开的。针对沈阳市内地下电缆隧道的结构化环境特征,进行了巡检系统方案设计,并结合差速驱动模式、四轮驱动模式、和履带式移动机构的运动优点,研制了一种能够适应于电缆隧道结构化环境的巡检机器人SCIR(Shen Yang Cable Tunnel Inspction Robot)。首先,对所需要巡检的环境进行了充分研究,并针对其主要存在的几种地形设计了巡检系统方案;根据巡检方案设计了隧道巡检机器人(SCIR)的机械结构,创新性的设计了手臂展开收拢与差速四轮驱动模式切换相结合的联动机构;根据隧道内的侧向台阶环境,设计了特殊的轮子结构实现侧向台阶跨越。对机构运动参数、运动性能进行了研究,优化了各部分的尺寸结构;根据联动节能理念对传动系统、联动方案及机器人空间布局进行了优化分析;从能源消耗角度对机器人所采用的移动方案及传动方案进行了可行性验证;针对隧道内的几种极限环境分析了机器人越障性能,并根据越障高度优化了轮径及重心位置,设计了适合隧道环境的巡检机构。其次,根据隧道环境和机构运动特点合理设计了控制系统,该控制系统包括硬件控制系统与软件控制系统。基于NIsbrio9636设计了由上层操作部分、下层处理单元和传感装置组成的硬件系统;基于Labview设计了软件控制系统;功能上:该巡检机器人采用了可视化界面,简便易操作的手柄遥控方法,实现了半自主控制;搭载高清摄像装置以及七种气体采集装置,能够再现隧道内图像与气体成分,基于5.8GHz的网桥通讯保证了通讯的稳定可靠,能够完成要求的巡检任务。最后,制作了机器人样机,并在隧道环境下进行实验,验证了系统的通讯能力,控制系统的可靠性,操作界面清晰度及巡检机器人的越障、爬坡、地形适应等功能,实验表明:所研制的隧道巡检机器人(SCIR)具备隧道巡检的基本功能,能够完成电缆隧道巡检任务,为后续深入研究奠定基础。
[Abstract]:The stable and safe operation of power system is very important to the economic life. The inspection and maintenance of HV cable tunnel has become another dangerous task. The research content of this paper is based on the inspection project of HV cable tunnel carried out in cooperation with Shenyang Electric Power Bureau, aiming at the structural environmental characteristics of underground cable tunnel in Shenyang. The scheme design of the inspection system is carried out, and a SCIR(Shen Yang Cable Tunnel Inspction robot, which can adapt to the structured environment of the cable tunnel, is developed by combining the differential drive mode, the four-wheel drive mode and the movement advantage of the tracked mobile mechanism. In this paper, the necessary environment for inspection is fully studied, and the scheme of patrol inspection system is designed for several kinds of terrain, and the mechanical structure of tunnel inspection robot is designed according to the scheme of inspection and inspection. An innovative linkage mechanism is designed which combines arm unwinding and differential four-wheel drive mode switching. According to the lateral step environment in the tunnel, a special wheel structure is designed to achieve lateral step leapfrogging. The kinematic performance is studied, the dimension structure of each part is optimized, and the transmission system, linkage scheme and space layout of robot are optimized and analyzed according to the idea of linkage energy saving. From the point of view of energy consumption, this paper verifies the feasibility of the mobile scheme and transmission scheme adopted by the robot, analyzes the performance of the robot in several limiting environments in the tunnel, and optimizes the wheel diameter and center of gravity according to the height of the obstacle. Secondly, according to the characteristics of tunnel environment and mechanism motion, the control system is designed reasonably. The control system includes hardware control system and software control system. The upper layer operation part is designed based on NIsbrio9636. The hardware system composed of the lower processing unit and the sensing device, the software control system based on Labview is designed. The function of the inspection robot is that the remote control method of the handle is simple and easy to operate, and the visual interface is used to realize the semi-autonomous control. With high-definition camera and seven kinds of gas acquisition devices, the image and gas components in the tunnel can be reproduced. The network bridge communication based on 5.8GHz ensures the stability and reliability of the communication, and can complete the required inspection task. Finally, the robot prototype is made. The experiment in tunnel environment verifies the communication ability of the system, the reliability of the control system, the clarity of the operation interface and the functions of inspecting the robot's obstacle, climbing, terrain adaptation, etc. The experimental results show that the developed tunnel inspection robot has the basic function of tunnel inspection and can complete the task of cable tunnel inspection, which lays a foundation for further research.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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