摘要
针对当前电力巡检领域多采用轮式移动机器人,难以适应地面不平整、环境复杂的情况,研发了一种具有自站立移动机器人,该机器人在配备经典的传感器基础上,装载高清摄像头实现机器人位置和周边环境的全域数据采集,实现更准确的机器人控制。在分析自站立机器人原理基础上,构建含图像数据的机器人信息模型。接着重点设计了以F28335控制器为核心的机器人主要硬件电路,并研究了相应的软件流程。所研发的具有图像功能的巡检自站立移动机器人已应用于电力机房的巡检,初步应用结果已显示能适应复杂的电力应用场景。
At present,wheeled mobile robots are mostly used in the field of power inspection,which is difficult to adapt to the uneven ground and complex environment.In order to solve the problem,a self-standing mobile robot has been developed.With the classical sensors,this robot is mounted with a high-definition camera to realize the global data acquisition of robot position and surrounding environment,achieving more accurate robot control.Based on the analysis of principle of self-standing robot,the paper constructs the robot information model with image data,and then designs the main hardware circuit of robot based on F28335 controller,and also makes study on the corresponding software process.The developed self-standing mobile robot with image function has already been applied to the inspection of power room,and preliminary application results have shown that it can adapt to complex power application scenarios.
作者
叶思琪
刘飘
罗金满
余凌
王湘女
YE Siqi;LIU Piao;LUO Jinman;YU Ling;WANG Xiangnv(Dongguan Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Dongguan Guangdong 523008,China)
出处
《湖北电力》
2022年第2期120-126,共7页
Hubei Electric Power
基金
广东电网有限责任公司职工创新项目(项目编号:031918KK52220005)。
关键词
机器人
自站立
图像功能
电力巡检
robot
self-standing
image function
power inspection
