变电站巡检机器人的上位机监控系统设计  

Design of Upper Computer Monitoring System for Substation Inspection Robot

作　　者：彭沛博 PENG Peibo(State Grid Hubei Suizhou Power Supply Company,Suizhou 441399,China)

机构地区：[1]国网湖北省电力有限公司随州供电公司,湖北随州441399

出　　处：《通信电源技术》2023年第19期7-9,共3页Telecom Power Technology

摘　　要：变电站巡检机器人由视觉系统、运动控制模块、感知系统以及执行机构等组成。树莓派是一种性能高、功耗低的嵌入式微处理器,适用于尺寸小、成本低的机器人。上位机人机交互系统能够远程控制巡检机器人,记录巡检机器人历史数据等。设计基于树莓派的变电站巡检机器人上位机控制系统,由人机交互模块、PC上位机以及通信模块组成。上位机能够监控机器人运动过程中产生的各种误差,控制机器人的运动姿态。通过搭建实验平台,验证了该上位机系统的控制性能。Substation inspection robot is composed of vision system,motion control module,perception system and actuator.Raspberry Pi is an embedded microprocessor with high performance and low power consumption,which is suitable for robots with small size and low cost.The interpersonal interaction system of the host computer can remotely control the inspection robot and record the historical data of the inspection robot.The upper computer control system of substation inspection robot based on Raspberry Pi is designed,which consists of human-computer interaction module,PC upper computer and communication module.The upper computer can monitor all kinds of errors in the process of robot movement and control the robot’s motion posture.The control performance of the host computer system is verified by building an experimental platform.

关 键 词：巡检机器人 上位机系统 树莓派 通信模式 

分 类 号：TM63[电气工程—电力系统及自动化]