Abstract:
As the complex environment of indoor substation, the coverage of traditional inspection methods is limited with low efficiency. In order to release human resources, an indoor patrol robot with lifting platform is designed to monitor substation facilities. Firstly, an improved Floyd path planning algorithm is designed to search for the optimal path of the inspection task, which improves the patrol efficiency. Secondly, a trajectory tracking controller based on Euler numerical integration method is designed to improve the control precision of the robot. Finally, a control method of lifting platform and camera is proposed. To verify the feasibility and performance of the proposed control system, both simulation and experimental results are presented and discussed, showing the good performance of the trajectory tracking controller. After the robot performs multiple inspection tasks, the cumulative position error fluctuates within 10 cm, and the image data of the power equipment can be accurately collected, which meet the substation inspection task requirement.