用于GIS内部检测的仿壁虎机器人通信系统研制  

Development of Gecko Robot Communication System for Internal GIS Equipment Checking

作　　者：吴国沛 李华 林李波 张铁[2] WU Guo-pei;LI Hua;LIN Li-bo;ZHANG Tie(Guangzhou Power Supply Bureau Co.,Ltd.,Guangzhou 510620,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510641,China)

机构地区：[1]广州供电局有限公司,广东广州510620 [2]华南理工大学机械与汽车工程学院,广东广州510641

出　　处：《仪表技术与传感器》2021年第5期52-57,共6页Instrument Technique and Sensor

基　　金：广州供电局有限公司科技项目(GZHKJXM20170068)。

摘　　要：为实现GIS内部检测,研制了在远程操作方式下用于GIS内部爬行并检测的仿壁虎机器人,基于机器人运动控制机制,设计了基于无线通信的三方通信系统和机器人与12个舵机之间的总线通信系统并软硬件实现,完成了仿壁虎机器人的通信系统的研制。针对无线远程操作中数据传输的效率和准确性问题,提出了三方通信的闲时忙时策略和协议。为提高机器人与舵机总线通信的效率和准确性问题,提出了总线通信的通信权重策略和协议。通过机器人的爬壁实验,验证了通信系统的稳定性和高效性。In order to realize the internal detection of Gas Insulated Switchgear(GIS),a gecko robot for crawling and detecting in GIS was developed in the remote operation mode.Based on the robot motion control mechanism,the three parties communication system based on wireless communication and the bus communication system between the robot and 12 steering gear motors were designed and the communication system of the gecko robot was developed.In view of the efficiency and accuracy of data transmission by wireless remote operation,this paper proposed the free time or busy hour strategy and protocol of three parties communication.In order to improve the efficiency and accuracy of bus communication between robot and steering gear motors,a strategy according to communication weight and a protocol of bus communication was proposed.The stability and efficiency of the communication system are verified by the wall climbing experiment of the robot.

关 键 词：仿壁虎机器人 通信系统 通信策略 通信协议 硬件设计 软件设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]