自主配网带电作业机器人软件系统的通用化设计  

Software Architecture of Robot Manipulator for Live Working of Distribution Network

作　　者：任书楠 夏益青 徐善军[1,2,3] 郭俊龙[1,2,3] 张铜 孙霄伟 Ren Shu’nan;Xia Yiqing;Xu Shanjun;Guo Junlong;Zhang Tong;Sun Xiaowei(Beijing Guodianfutong Science&Development Co.,Ltd.,Beijing 100070,China;NARI Technology Co.,Ltd.,Nanjing 211000,China;NARI Group(State Grid Electric Power Research Institute)Co.,Ltd.,Nanjing 211000,China)

机构地区：[1]北京国电富通科技发展有限责任公司,北京100070 [2]国电南瑞科技股份有限公司,南京211000 [3]南瑞集团(国网电力科学研究院)有限公司,南京211000

出　　处：《兵工自动化》2020年第10期89-92,共4页Ordnance Industry Automation

基　　金：国家自然科学基金资助项目(51705515)。

摘　　要：为解决配网带电作业机器人软件系统存在扩展性及适用性不足等问题,对其进行通用化设计。基于配网带电作业机器人的开发实践经验和硬件组成特点,梳理软件功能需求和各功能模块间的数据流向,基于ROS开发出通用软件平台的主要功能模块。测试结果表明:该软件平台适用于多种类型的作业平台和任务,可为配网带电作业机器人产品化铺平道路。In the present,the extension and applicability of the software system of live working robot in distribution network are limited.In order to solve these problems,the general design is carried out.The development experience and hardware characteristics of the live working robot in distribution network are both studied with considering the functional requirements of software and data flow between functional modules.The main functional modules of the general software platform are developed based on ROS(Robot Operating System).The test results show that the software platform is suitable for various types of hardware platforms and tasks,and paves the way for the production of distribution network live working robots.

关 键 词：配网带电作业 机器人 通用软件平台 架构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]