摘要
随着电网设备的不断增多和变电站自动化、安全性要求的不断提高,电网对于辅助作业机器人的需求不断增加。本文对配电开关柜辅助作业机器人进行了研究,设计了机器人的运动控制系统、双目识别系统和机械臂控制系统。机器人能够通过激光雷达和惯性测量单元对机器人位置进行精确定位和最优路径规划,通过6自由度的机械臂能够完成开关柜的开断作业以及断路器的取出放入,通过实时检测配电柜的运行参数,对开关柜运行状态进行监控,及时处理设备故障隐患,提高了设备安全稳定运行的能力。
With the increasing number of power grid equipment and the increasing requirements of automation and security in the substation, the demand for auxiliary operating robots is increasing. In this paper, the auxiliary robot of distribution switchgear is studied, and the motion control system, binocular recognition system and manipulator control system are designed. The robot can realize the automatic positioning of the ultrasonic sensors and cameras and automatic tracking and obstacle avoidance, it can also realize the precise location of equipment using binocular recognition algorithm. The robot can complete the opening and breaking operation of the switchgear, it can also complete the removal of the circuit breaker through a 6 degree of freedom manipulator. The robot can monitor the running state of the switchgear by real-time detecting the operation parameters of the switchgear, and deal with the hidden troubles of the equipment in time, so as to improve the safe and stable operation of the device.
作者
罗佳
李伯方
黎立
崔顺炬
LUO Jia;LI Bo-fang;LI Li;CUI Shun-ju(Qingyuan Power Supply Bureau of Guangdong Power Grid Corporation,Qingyuan 511515 China;SINOMACH Intelligence Technology Co.,Ltd.Guangzhou 510535 China)
出处
《自动化技术与应用》
2018年第5期64-68,共5页
Techniques of Automation and Applications
基金
配电开关柜辅助作业机器人应用研究(编号031800KK52 160003)
关键词
开关柜
辅助作业
机器人
switchgear
auxiliary operation
Robot
