基于ROS的变电站室内巡检机器人的研究与设计

为了解决变电站室内人工巡检方式效率低、人工成本高、巡检精度低等问题,更好的促进数字化、智能化电网的发展,本文设计了一套适用于变电站室内巡检作业的机器人系统,该机器人系统包含巡检机器人终端、巡检专网、数据库、远程管理终端四部分,同时对机器人室内定位算法进行了研究,设计了机器人硬件结构,开发了机器人的控制系统,并对机器人的定位准确性、可靠性、安全性进行了模拟仿真实验和现场运行实验。实验结果显示：本文设计的巡检机器人可以很好的适应变电站室内环境,并且该机器人可以实现精确的定位与导航,对变电站室内设备运行情况进行精确巡检与故障预警,满足变电站室内巡检作业要求。最后对本次研究工作进行了总结,提出了下一步研究计划。

Research and Design of Indoor Inspection Robot in Substation Based on Ros

In order to solve the substation indoor artificial inspection way, low efficiency, high cost and low accuracy of inspection, to better promote the development of digital and intelligent power grid, this paper designed a set of robot system is suitable for indoor substation inspection operations and inspection robot the robot system includes terminal and private network, database, remote management of terminal four parts, At the same time, the indoor positioning algorithm of the robot is studied, the hardware structure of the robot is designed, the control system of the robot is developed, and the positioning accuracy, reliability and safety of the robot are simulated and field operation experiments. The experimental results show that the inspection robot designed in this paper can well adapt to the substation indoor environment, and the robot can achieve accurate positioning and navigation, accurate inspection and fault warning of substation indoor equipment operation, and meet the requirements of substation indoor inspection. Finally, this paper summarizes the research work and puts forward the next research plan.