【摘要】 本设计旨在研究一种大型电力变压器内检专用潜测机器人,要求机器人做到微型化,尺寸不超过200 mm,通过放油阀进入变压器内部,在整体油浸情况下,可进行变压器内部空间的遍历游动,自身携带图像传感器、光源,在外部人工遥控状态下对特殊部位进行重点检查,实时传输出部位状态图像,还可对局部过热、放电、产气、松动等故障信息进行检测,潜测机器人对变压器内检全部完成后自动返回放油阀,由专用装置收回。搭载的图像采集模块传输图像到上位机,方便人员观察变压器内部,控制机器人走向。对数据进行仿真研究,位置轨迹相对误差为1.99%,该定位系统可以有效的检测机器人在变压器内的位置。更多还原

【Abstract】 This design is to study a special submersible robot for internal inspection of large power transformers. It requires the robot to be miniaturized. The size does not exceed 200 mm. In the case of overall oil immersion, the internal space of the transformer can be carried out. After the internal inspection of the transformer is completed, it will automatically return to the oil drain valve and be retracted by the special device. The image acquisition module is equipped to transmit images to the host computer, which is convenient for personnel to observe the inside of the transformer and control the robot’s direction. The data is simulated and the relative error of the position trajectory is 1.99%. The positioning system can effectively detect the position of the robot in the transformer.更多还原