基于DPS的高压带电作业机器人控制系统设计  

Design of High Voltage Live Working Robot Control System Based on DPS

作　　者：姜文东 汤春俊 梁加凯 傅卓君 秦威南 JIANG Wendong;TANG Chunjun;LIANG Jiakai;FU Zhuojun;QIN Weinan(State Grid Zhejiang Electric Power Co.,Ltd.,Hangzhou 310000,China;Jinhua Power Supply Company of State Grid Zhejiang Electric Power Co.,Ltd.,Jinhua 321000,China)

机构地区：[1]国网浙江省电力有限公司,浙江杭州310000 [2]国网浙江省电力有限公司金华供电公司,浙江金华321000

出　　处：《微型电脑应用》2023年第10期68-72,共5页Microcomputer Applications

基　　金：国网浙江省电力有限公司科技项目(5211JH18008A)。

摘　　要：由于高压带电作业机器人控制精度问题会影响作业效率和作业质量,为此设计基于DPS的高压带电作业机器人控制系统。系统采用下位机层、中间通信层、上位机层等3层系统框架。硬件部分以DPS摄像机采集的图像为基础,在DSP芯片控制下,通过电极带动驱动器控制高压带电作业机器人作业。在软件部分设计3个关键程序,即作业目标识别程序、高压带电作业机器人作业规划程序、高压带电作业机器人位置控制程序。结果表明,应用所设计系统后,带电作业机器人实际作业路径与预期最佳路径之间的拟合优度基本维持在0.9以上,说明系统对高压带电作业机器人的控制效果好。Because control accuracy of the high-voltage live working robot affects the work efficiency and quality,a DPS-based high-voltage live working robot control system is designed.The system is a three-layer framework of the lower computer layer,the intermediate communication layer and the upper computer layer.The hardware part is based on the image collected by the DPS camera,and under the control of the DSP chip,the electrode drives the driver to control the operation of the high-voltage live working robot.In the software part,three key programs are designed,namely the operation target recognition program,the operation planning program of the high-voltage live working robot,and the position control program of the high-voltage live working robot.The results show that under the application of the designed system,the goodness of fit between the actual working path and the expected optimal path of the live working robot is basically maintained up to 0.9,indicating that the system has a good control effect on the high-voltage live working robot.

关 键 词：DPS 高压带电作业机器人 硬件设计 程序设计 控制系统 

分 类 号：TP254.8[自动化与计算机技术—检测技术与自动化装置]