配电房轨道式自动巡检机器人控制系统设计与实现

针对配电房等室内电力系统供电设备自动巡检的需求,提出了以微控制器MSP430F5438为核心的自动巡检机器人控制系统总体设计方案。采用模块化方法完成了控制系统硬件电路设计,主要包括：主控模块、电源模块、运动控制模块、通信模块和数据采集模块。介绍了控制系统软件的总体流程,完成了控制系统嵌入式软件及其上位机监控软件的设计。实验结果表明,所设计的控制系统应用于巡检机器人可以实现对配电房供电设备的自动巡检,从而验证了控制系统的有效性与合理性,具有显著的推广应用价值。

Design and Implementation of Control System for Power Distribution Room Orbital Automatic Inspection Robot

According to the demand of automatic inspection of the power equipment of indoor power system such as the power distribution room, an overall design scheme of an automatic inspection robot control system with MCU MSP430F5438 as the core is proposed. The control system hardware circuit is designed by a modular design method, including the main control module, the power module, the motion control module, the communication module and the data collection module. The overall flow of the control system software is introduced and the embedded software and the PC monitoring software of the control system are designed. Experiment results show that the designed control system applied to the inspection robot can implement the automatic inspection of the power equipment of power distribution room, which proves the effectiveness and rationality of the control system. The control system has significant application value.