针对变电站传统人工巡检方式存在工作量大、缺乏系统分析和实时故障分析等缺点,设计了基于STM32芯片的变电站智能巡检机器人,具有自主循迹、智能诊断分析、太阳能充电、机械手臂及时切除故障等功能.详细阐述了硬件结构和软件算法设计方案,研制出巡检机器人样机,并对样机通信系统、控制系统、智能识别诊断系统进行了测试分析.测试结果表明,该巡检机器人系统能够对电力设备进行有效巡检与故障诊断,巡检效率高、安全性可靠,因此具有较高的经济效益和较强的现实意义.%Since the traditional manual inspection method of substation has the disadvantage of heavy workload,and lacks of systematic analysis and real-time fault analysis,an intelligent substation inspection robot based on STM32 was designed, which has functions of automatic tracking,intelligent diagnosis analysis,solar energy recharging,and timely fault removal by mechanical arms. In this paper,the design schemes of hardware structure and software algorithm are elaborated in detail,and the test analysis for its communication system,control system,and intelligent identification and diagnosis system is performed. The test result shows this robot can inspect the electric equipment and diagnose the fault efficiently,and has high inspection effi-ciency and reliable security. Therefore,it brings a high economic benefit and has strong practical significance.
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