基于ROS架构的中置开关柜值守机器人系统研究  

Research on Robot System for Centrally Installed Switchgear Based on ROS

作　　者：茅晓亮 滕佳赟 张彦欢 程煌坤 王宝 Mao Xiaoliang;Teng Jiabin;Zhang Yanhuan;Cheng Huangkun;Wang Bao(State Grid Shanghai Electric Power Co.,Fengcian Branch,Shanghai 201499;Beijing Ruiying Zhituo Technology Development Co.,LTD,Beijing,100088;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240)

机构地区：[1]国网上海市电力公司奉贤供电公司,上海201499 [2]北京瑞盈智拓科技发展有限公司,北京100088 [3]上海交通大学机械与动力工程学院,上海200240

出　　处：《传动技术》2023年第2期20-25,共6页Drive System Technique

基　　金：国网上海市电力公司科技项目“10kV中置式开关柜巡视操作机器人系统构建及安全评估方法研究”。

摘　　要：针对中置式开关柜的操作流程自动化、操作方式柔性化以及操作感知智能化等技术痛点和难点,结合中置式开关柜工作场景,提出了基于ROS的架构的中置式开关柜值守机器人系统。首先根据中置式开关柜值守要求构建检测与感知系统、运动与导航系统、末端执行工具系统等各项子系统。其次基于ROS架构将各个子系统进行集成,构建中置开关柜值守机器人系统。以任务识别配电柜元件为例,基于中置开关柜值守机器人系统以YOLOv5s算法检测,能够实现中置开关柜元件识别与目标检测。最后,采集中置式开关柜数据,搭建中置式开关柜值守机器人系统实验平台,对系统可行性和有效性展开实验验证。Aiming at the technical pain points such as automation of operation process,flexibility of operation mode and intelligent operation perception of centrally installed switchgear,combined with the working scene of centrally installed switchgear,a ros-based centrally installed switchgear robot system is proposed.Firstly,according to the duty requirements of centrally installed switchgear,various subsystems such as detection and sensing system,motion and navigation system,and end-execution tool system are constructed.Secondly,all subsystems are integrated based on ROS architecture to form a centrally installed switchgear robot system.Finally,taking task recognition centrally installed switchgear components as an example,YOLOv5s algorithm is used to detect centrally installed switchgear robot system,which demonstrates that the system can realize centrally installed switchgear components recognition and target detection.Finally,the data of the central switchgear is collected,the experimental platform of the central installed switchgear duty robot system is built,and the feasibility and effectiveness of the system are verified experimentally.

关 键 词：机器人 中置式开关柜 值守机器人系统 目标检测 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]