基于机器视觉的35kV开关室复合机器人设计  

Design of 35 kV Switchgear Chamber Compound Robot Based on Machine Vision

作　　者：陈富国 蔡杰 闻泉 杨爱军[1] 蒋壮强 魏稼鹏 CHEN Fuguo;CAI Jie;WEN Quan;YANG Aijun;JIANG Zhuangqiang;WEI Jiapeng(State Key Lab of Electrical Insulation and Power Equipment,Xi’an Jiaotong University,Xi’an 710049,China;Pinggao Group Co.,Ltd.,Henan Pingdingshan 467001,China;Youibot Robotics Co.,Ltd.,Guangdong Shenzhen 518000,China)

机构地区：[1]西安交通大学电力设备电气绝缘国家重点实验室,西安710049 [2]平高集团有限公司,河南平顶山467001 [3]深圳优艾智合机器人科技有限公司,广东深圳518000

出　　处：《高压电器》2023年第1期17-24,共8页High Voltage Apparatus

基　　金：国家自然科学基金资助项目(51777154);平高集团科技项目(PGKJ2022⁃021)。

摘　　要：为提升高压开关室智能运维水平,文中设计了一款开关室复合机器人。首先,文中从总体上论述了产品结构和信息流设计方法。其次,在控制流程方面,阐述了一键顺控倒闸、紧急分闸、带电检测、视频巡视4类典型操作的实现方法;在软件算法方面,介绍了点云特征识别和仪器仪表识别的算法设计方法。最后,通过试验验证了所设计的系统具有较好的稳定性、准确性和可靠性,具备较大的推广应用价值。In order to improve the intelligent operation and maintenance level of the high⁃voltage switchgear cham⁃ber,a kind of switchgear chamber compound robot is designed in this paper.Firstly,the product structure and informa⁃tion flow design methods are described in general.Then,in terms of control process,the implementation methods of such four typical operations as one⁃key sequential control switching,emergency opening,live detection,and video pa⁃trol are described.The point cloud feature recognition algorithm and instrument and meter recognition algorithm de⁃sign methods are introduced from the point of view of software algorithm.Finally,the test proves that the designed sys⁃tem has good stability,accuracy,reliability and possess great application value.

关 键 词：复合机器人 高压开关室 一键顺控操作 紧急分闸 带电检测 

分 类 号：TM591[电气工程—电器] TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]