摘要随着社会及科技水平的不断发展，人们的生活环境越来越舒适。而电能作为人们生活中必不可少的能源之一，人们对电能的需求也在急剧增加。变电站作为电力网中重要的一个环节，因此对它的要求也在不断上升。近年来，变电站的建造逐步向大面积发展，这使设备的运行环境更加复杂化。而且巡检范围增大致使工作人员的巡检工作变得更多。传统的变电站一般采用人工巡检方式，这可能会发生由巡检人员的失误带来严重影响的问题，而且由于巡检工作量大，有时不能做到准确全面的巡检，给电网以及设备的运行带来了各种安全隐患。采用巡检机器人则不仅可以降低工作人员的工作量，而且更加高效。在恶劣的天气条件下使用巡检机器人还可以降低工作人员的安全风险。在了解了目前常用的巡检导航方式之后，基于卡尔曼滤波设计了基本的巡检机器人的路径以及目标跟踪。通过MATLAB编程仿真，该设计的方案获得满意的效果。84688

毕业论文关键词  巡检机器人  卡尔曼滤波  巡检方式  MATLAB 

毕业设计说明书外文摘要

Title    Research Of Positioning And Navigation Technology Of Inspection Robot In Substation                     

Abstract With the development of the society and the science and technology, people’s living environment become more comfortable。 And electricity as one of the indispensable energy in people's life, is a sharp demand for people。 The requirements of Substation is also rising。 In recent years, the area of substation becomes lager gradually, which makes operating environment of equipment is more complicated。 And it makes inspectors having a heavy workload。 Labor inspection is usually used in traditional substation, which may occur serious impact caused by the mistakes of inspectors， And because of the heavy workload, inspectors sometimes can't achieve a comprehensive and accurate inspection, which brings a variety of security risks to the power grid and equipment operation。 Using the robot can not only reduce the workload of staffs, but is also more efficient。 Using inspection robot in bad weather can also reduce the safety risk of staffs。 Designed basic route and tracking of inspection robot based on Kalman filtering after known the commonly used ways of inspection and navigation。 By programming and simulation with MATLAB, the design of program obtained obtained satisfactory result。

Keywords  Inspection robot  Kalman filtering  Inspection and navigation   MATLAB

目   次

1  引言 1

1．1  变电站巡检系统的发展趋势 1

1．2  机器人及其导航技术的现状 1

1．3  变电站巡检系统介绍 3

1．4  变电站巡检机器人的研究及意义 3

2  常见的变电站巡检机器人导航方式 5

2．1  基于磁轨迹引导及RFID定位 5

2．2  GPS定位导航 6

2。2。1  GPS定位导航基本原理 6

2。2。2  巡检机器人的GPS定位导航控制技术 7

2．3  激光定位导航 9

3  基于卡尔曼滤波的巡检机器人轨迹跟踪 11

3．1  卡尔曼滤波