【作者】 张巍；

【导师】 彭倍；

【作者基本信息】 电子科技大学 ， 工程硕士（专业学位）， 2019， 硕士

【摘要】 近年来,随着科学技术的不断发展,服务机器人得到了长足的发展,例如家用扫地机器人已经广泛运用在大众家中,智能餐车机器人也在多家企业中得到应用,变电站巡检机器人也在变电站中得到了广泛的使用。因此,服务类机器人具有非常广阔的市场价值。国务院印发的《关于深化中央财政科技计划(专项、基金等)管理改革的方案》的总体部署,按照国家重点研发计划组织管理的相关要求,现将“智能机器人”等7个重点专项2018年度项目申报指南予以公布。2016年,国家发改委在其颁布的《机器人产业发展规划(2016-2020年)》文件中指出,目前国内机器人生产制造产业在发展规模和战略推进上务必要实现“两突破”和“三提升”,其规定在2020年实现20万台自主生产机器人的量产突破,200个亿的年收入总值突破。这些都将大大推动国内机器人产业的发展。智能服务机器人发展到目前为止,主要的核心技术包括机器人自主导航与定位,环境感知识别,机器视觉,人机交互以及电池管理技术和自主充电技术等。本论文基于团队承担的四川省重点研发计划项目《变电站智能巡检机器人的研制与应用》,主要针对变电站机器人的自动充电,自主对接和电压电流监测进行研究。同时,由于机器人在高电磁场辐射,露天恶劣的变电站环境下工作,因此这对充电桩工作时的安全性和稳定性提出了挑战。本论文的主要研究了以下几个方面:(1)自动充电技术总体方案设计及其机构设计,提出了一种新的机器人自动充电方案,设计了一种空间误差容错率较高且能够应对变电站复杂恶劣环境的充电对接机构。(2)研究了机器人和充电桩的自动对接技术,实现了机器人在移动误差±5cm的范围内,对接头自动对接的成功率在95%以上。(3)设计了充电电流电压监测模块的设计,实现了在机器人充电过程中,实时监测充电电流与充电电压,并通过对数据进行处理分析,判断机器人的充电环境,充电状态等必要的充电信息。最终,通过实验验证与实际使用表明,本论文自动充电的研究,解决了变电站巡检机器人自主充电的需求。更多还原

【Abstract】 In recent years,with the continuous development of science and technology,service robots have been greatly developed.For example,home sweeping robots have been widely used in popular homes,and smart dining car robots have also been applied in many enterprises.Substation inspection robots are also in substations.It has been widely used.Therefore,service robots have a very broad market value.The overall deployment of the “Proposal on Deepening the Management Reform of the Central Financial Science and Technology Plan(Special Funds,Funds,etc.)issued by the State Council,in accordance with the relevant requirements of the national key R&D plan organization and management,now has 7 key special projects such as “Intelligent Robots” 2018 Project The application guide is published.In 2016,the National Development and Reform Commission pointed out in its document "Robot Industry Development Plan(2016-2020)" that the current domestic robot manufacturing industry must achieve "two breakthroughs" and "three upgrades" in terms of development scale and strategic advancement.It stipulates that in 2020,the mass production breakthrough of 200,000 self-manufacturing robots will be realized,and the total annual revenue of 200 million will be broken.These will greatly promote the development of the domestic robot industry.The development of intelligent service robots so far,the main core technologies include robotic autonomous navigation and positioning,environment-aware recognition,machine vision,human-computer interaction,battery management technology and autonomous charging technology.This paper is based on the key research and development project of Sichuan Province,"Development and Application of Substation Intelligent Patrol Robot",which is undertaken by the team.It mainly studies the automatic charging,autonomous docking and voltage and current monitoring of the Substation Robot.At the same time,because of the high electromagnetic field radiation,the robot works in the harsh open-air substation environment,which poses a challenge to the safety and stability of the charging pile.The main research of this thesis is as follows:(1)The overall scheme design and mechanism design of automatic charging technology,a new automatic charging scheme for robots is proposed,and a charging docking mechanism with high spatial error tolerance is designed.(2)The automatic docking technology of the robot and the charging pile is studied,and the success rate of the automatic docking of the joint is over 95% in the range of the movement error of ±5cm.(3)The design of the charging current voltage monitoring module is designed to realize the real-time monitoring of the charging current and the charging voltage during the charging process of the robot,and to determine the charging environment and the charging status of the robot by processing and analyzing the data.Finally,through experimental verification and actual use,the research on automatic charging of this paper solves the need for self-charging of substation inspection robots.更多还原