本文選題：移動(dòng)機(jī)器人 + 控制系統(tǒng)　； 參考：《安徽工業(yè)大學(xué)》2017年碩士論文

【摘要】：GIS檢測(cè)機(jī)器人移動(dòng)平臺(tái)研制為中科院沈陽(yáng)自動(dòng)化研究所合作項(xiàng)目,應(yīng)用于變電站GIS設(shè)備的無(wú)損檢測(cè)。機(jī)器人平臺(tái)可搭載機(jī)械臂代替人工搬運(yùn)、架設(shè)X射線設(shè)備,完成GIS設(shè)備中器件檢測(cè),從而保證人員安全、降低勞動(dòng)強(qiáng)度、簡(jiǎn)化檢測(cè)流程、提高檢測(cè)效率,有利于電網(wǎng)維護(hù)水平的整體提升。首先,論文綜述了移動(dòng)機(jī)器人發(fā)展歷程及課題研究目的、意義。根據(jù)變電站環(huán)境的實(shí)際需求,確定了機(jī)器人平臺(tái)相應(yīng)的技術(shù)指標(biāo)。其次,論文基于移動(dòng)機(jī)器人平臺(tái)控制系統(tǒng)功能要求,對(duì)控制系統(tǒng)進(jìn)行了方案設(shè)計(jì)。在控制系統(tǒng)硬件方面,主要包括基于STM32F4的主控制器及由溫濕度、傾角、超聲波、紅外傳感器組成的多傳感器系統(tǒng),基于ESD-4820(30)PC的伺服系統(tǒng),基于DGUS顯示屏的人機(jī)交互系統(tǒng)。軟件方面,選用μC/OS-Ⅱ?qū)崟r(shí)操作系統(tǒng),進(jìn)行合理的多任務(wù)分配和調(diào)度,協(xié)調(diào)和組織控制系統(tǒng)各項(xiàng)硬件資源,使得具有實(shí)時(shí)性和可靠性的控制系統(tǒng)功能得以實(shí)現(xiàn)。然后,論文針對(duì)機(jī)器人平臺(tái)遠(yuǎn)程控制的功能需求,設(shè)計(jì)了便攜式控制器系統(tǒng)。最后,根據(jù)移動(dòng)機(jī)器人平臺(tái)各項(xiàng)技術(shù)指標(biāo)要求進(jìn)行實(shí)驗(yàn)測(cè)試。實(shí)驗(yàn)驗(yàn)證了移動(dòng)機(jī)器人平臺(tái)控制系統(tǒng)滿足技術(shù)指標(biāo)要求。
[Abstract]:The mobile platform of GIS detection robot is a cooperative project of Shenyang Institute of Automation of Chinese Academy of Sciences, which is applied to nondestructive testing of substation GIS equipment. The robot platform can carry a robot arm instead of manual handling, set up X-ray equipment, complete the device detection in GIS equipment, so as to ensure the safety of personnel, reduce labor intensity, simplify the detection process, and improve the detection efficiency. It is conducive to the overall improvement of the maintenance level of the power grid. First of all, the paper summarizes the development of mobile robots and the purpose and significance of the research. According to the actual demand of substation environment, the corresponding technical index of robot platform is determined. Secondly, based on the functional requirements of mobile robot platform control system, the control system is designed. The hardware of the control system mainly includes the main controller based on STM32F4, the multi-sensor system composed of temperature and humidity, inclination, ultrasonic and infrared sensor, the servo system based on ESD-4820(30)PC, and the man-machine interactive system based on DGUS display screen. In terms of software, 渭 C / OS- 鈪，

本文編號(hào)：1936396