GIS检测机器人移动平台控制系统设计

发布时间：2018-05-26 07:50

  本文选题：移动机器人 + 控制系统　； 参考：《安徽工业大学》2017年硕士论文

【摘要】：GIS检测机器人移动平台研制为中科院沈阳自动化研究所合作项目,应用于变电站GIS设备的无损检测。机器人平台可搭载机械臂代替人工搬运、架设X射线设备,完成GIS设备中器件检测,从而保证人员安全、降低劳动强度、简化检测流程、提高检测效率,有利于电网维护水平的整体提升。首先,论文综述了移动机器人发展历程及课题研究目的、意义。根据变电站环境的实际需求,确定了机器人平台相应的技术指标。其次,论文基于移动机器人平台控制系统功能要求,对控制系统进行了方案设计。在控制系统硬件方面,主要包括基于STM32F4的主控制器及由温湿度、倾角、超声波、红外传感器组成的多传感器系统,基于ESD-4820(30)PC的伺服系统,基于DGUS显示屏的人机交互系统。软件方面,选用μC/OS-Ⅱ实时操作系统,进行合理的多任务分配和调度,协调和组织控制系统各项硬件资源,使得具有实时性和可靠性的控制系统功能得以实现。然后,论文针对机器人平台远程控制的功能需求,设计了便携式控制器系统。最后,根据移动机器人平台各项技术指标要求进行实验测试。实验验证了移动机器人平台控制系统满足技术指标要求。
[Abstract]:The mobile platform of GIS detection robot is a cooperative project of Shenyang Institute of Automation of Chinese Academy of Sciences, which is applied to nondestructive testing of substation GIS equipment. The robot platform can carry a robot arm instead of manual handling, set up X-ray equipment, complete the device detection in GIS equipment, so as to ensure the safety of personnel, reduce labor intensity, simplify the detection process, and improve the detection efficiency. It is conducive to the overall improvement of the maintenance level of the power grid. First of all, the paper summarizes the development of mobile robots and the purpose and significance of the research. According to the actual demand of substation environment, the corresponding technical index of robot platform is determined. Secondly, based on the functional requirements of mobile robot platform control system, the control system is designed. The hardware of the control system mainly includes the main controller based on STM32F4, the multi-sensor system composed of temperature and humidity, inclination, ultrasonic and infrared sensor, the servo system based on ESD-4820(30)PC, and the man-machine interactive system based on DGUS display screen. In terms of software, 渭 C / OS- 鈪，

本文编号：1936396