变电站开关柜带电操作机器人关键技术研究  

Research on Key Technologies of Live Operating Robot for Substation Switchgear

作　　者：过浩 王法顺 周刚 GUO Hao;WANG Fa-shun;ZHOU Gang(Jiaxing Power Supply Company,Jiaxing 314000,China;Jiashan Power Supply Company,Jiaxing 314100,China)

机构地区：[1]国网浙江省电力有限公司嘉兴供电公司,浙江嘉兴314000 [2]国网浙江省电力有限公司嘉善县供电公司,浙江嘉兴314100

出　　处：《电气开关》2022年第6期84-87,92,共5页Electric Switchgear

摘　　要：随着科技智能化的发展,无人值守变电站越来越多,往往很简单的倒闸操作都需要操作人员去现场进行操作,极大的降低了工作效率。基于此,本文对变电站开关柜带电操作机器人关键技术进行研究,提升开关柜机器人操作的准确性与智能化。文中分别对带电操作机器人的定位与导航技术、图像识别技术、智能巡检技术和柔性机械臂操作技术进行研究,其中图像识别技术包括基于双目视觉的自动目标定位算法、基于深度学习的同心圆识别方法、基于深度学习的目标分类算法、倒闸操作图像处理方法;柔性机械臂操作技术包括手眼标定技术、非碰撞机械臂路径规划、基于电流环的柔性操作。通过对这些技术研究实现对设备的指针、数字仪表、开关分合等状态免人工的远程高效、准确识别,提升了工作效率。With the development of intelligent technology, there are more and more unattended substations.Often simple switching operations require operators to operate on site, which greatly reduces the work efficiency.Based on this, this paper studies the key technologies of live operation robot of substation switchgear, so as to improve the accuracy and intelligence of switchgear robot operation.In this paper, the positioning and navigation technology, image recognition technology, intelligent inspection technology and flexible manipulator operation technology of live operating robot are studied respectively.The image recognition technology includes automatic target positioning algorithm based on binocular vision, concentric circle recognition method based on deep learning, target classification algorithm based on deep learning and image processing method of switching operation;The operation technology of flexible manipulator includes hand eye calibration technology, path planning of non-collision manipulator and flexible operation based on current loop.Through the research of these technologies, the manual remote, efficient and accurate identification of the pointer, digital instrument, switch opening and closing of the equipment is realized, and the work efficiency is improved.

关 键 词：变电站 开关柜 带电操作机器人 

分 类 号：TM63[电气工程—电力系统及自动化]