Intelligent robot for power station inspection and maintenance and control system thereof

一种用于电站巡检和维修的智能机器人及其控制系统

Abstract

本发明公开了一种用于电站巡检和维修的智能机器人及其控制系统,包括巡检维修作业机器人本体和远程控制台。机器人本体采用履带机械手结构,四履带移动平台为机器人在电站复杂地形下移动提供充足的动力和转向性能,履带轮还可沿履带轮连接轴转动,增加了地形适应能力。机器人本体安装了监控系统,为巡检和维修作业提供控制信息。机器人具有自主导航和人工遥操作两种模式。自主导航根据复合导航系统提供的信息自主完成预定路线的巡检,遥操作模式下人为操作机器人移动和机械臂的维修作业。该机器人具有自动化、智能化程度高,灵活小巧的特点。
The invention discloses an intelligent robot for power station inspection and maintenance and a control system of the intelligent robot. The intelligent robot comprises an inspection and maintenance robot body and a remote console. The robot body is of a tracked manipulator structure. A four-track mobile platform provides sufficient power and steering performance for the robot for movement in a complex terrain of a power station. Track wheels can further rotate along track wheel connecting shafts, and therefore terrain adaptability is improved. A monitoring system is installed on the robot body to provide control information for inspection and maintenance. The robot has two modes of autonomous navigation and artificial remote operation. In the mode of autonomous navigation, inspection on a predetermined route is autonomously completed according to information provided by a composite navigation system. In the mode of artificial remote operation, movement of the robot and the maintenance of a manipulator are artificially operated. The robot has the advantages of being high in automated degree and intelligentialized degree, flexible and small and exquisite.

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