极限环境下电缆管道智能巡检机器人自动化控制系统  

Automatic Control System of Intelligent Inspection Robot for Cable and Pipeline Under Extreme Environment

作　　者：李乾 郭康 任树贞 王天义 LI Qian;GUO Kang;REN Shuzhen;WANG Tianyi(Shijiazhuang Power Supply Branch of State Grid Hebei Electric Power Co.,Ltd.,Shijiazhuang 050000,China;Hebei Chihai Technology Co.,Ltd.,Shijiazhuang 050000,China)

机构地区：[1]国网河北省电力有限公司石家庄供电分公司,石家庄050000 [2]河北驰海科技有限公司,石家庄050000

出　　处：《自动化与仪表》2024年第4期79-82,93,共5页Automation & Instrumentation

基　　金：河北省重大科技成果转化专项(22280101Z)。

摘　　要：为提升机器人自动化控制效果,该文设计极限环境下电缆管道智能巡检机器人自动化控制系统。利用传感器模块,实时采集机器人运行相关信息以及电缆管道环境信息;自动化控制模块依据实时采集的信息,得到机器人自动化控制量;以漏缆通信方式,设计无线通信模块,利用该模块传输控制量至电机驱动模块;电机驱动模块依据自动化控制量,生成自动化控制指令,驱动巡检机器人伺服电机,生成对应动作。实验证明,该系统可有效采集机器人运行相关信息,且信息传输效果较优,自动化控制后的机器人驱动轮角速度变化曲线较为平滑。In order to improve the automatic control effect of robot,the automatic control system of intelligent inspection robot for cable and pipeline in extreme environment is designed.Using sensor module,real-time collection of robot operation related information and cable pipeline environment information.The automation control module obtains the robot automation control quantity according to the real-time collected information.The wireless communication module is designed in the way of cable leakage communication,and the control quantity is transmitted to the motor drive module by this module.The motor drive module generates an automation control instruction according to the automation control quantity,drives the servo motor of the inspection robot,and generates corresponding actions.Experiments show that the system can effectively collect information related to robot operation,and the information transmission effect is good,and the angular velocity change curve of robot driving wheel after automatic control is smooth.

关 键 词：极限环境 电缆管道 智能巡检机器人 自动化控制 漏缆通信 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]