本文選題：移動機器人 + 控制系統(tǒng)��； 參考：《安徽工業(yè)大學》2017年碩士論文

【摘要】：GIS檢測機器人移動平臺研制為中科院沈陽自動化研究所合作項目,應用于變電站GIS設備的無損檢測。機器人平臺可搭載機械臂代替人工搬運、架設X射線設備,完成GIS設備中器件檢測,從而保證人員安全、降低勞動強度、簡化檢測流程、提高檢測效率,有利于電網維護水平的整體提升。首先,論文綜述了移動機器人發(fā)展歷程及課題研究目的、意義。根據變電站環(huán)境的實際需求,確定了機器人平臺相應的技術指標。其次,論文基于移動機器人平臺控制系統(tǒng)功能要求,對控制系統(tǒng)進行了方案設計。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顯示屏的人機交互系統(tǒng)。軟件方面,選用μC/OS-Ⅱ實時操作系統(tǒng),進行合理的多任務分配和調度,協調和組織控制系統(tǒng)各項硬件資源,使得具有實時性和可靠性的控制系統(tǒng)功能得以實現。然后,論文針對機器人平臺遠程控制的功能需求,設計了便攜式控制器系統(tǒng)。最后,根據移動機器人平臺各項技術指標要求進行實驗測試。實驗驗證了移動機器人平臺控制系統(tǒng)滿足技術指標要求。
[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：1936396