气体绝缘开关设备检测维护机器人控制系统设计  

Design on Control System of Robot for Inspection and Maintenance of GIS

作　　者：吴霖 马飞越 佃松宜[1] 杨家勇 范智霖 WU Lin;MA Feiyue;DIAN Songyi;YANG Jiayong;FAN Zhilin(College of Electrical Engineering,Sichuan University,Chengdu 610065,China;State Grid Ningxia Electric Power Corporation Research Institute,Yinchuan 750002,China)

机构地区：[1]四川大学电气工程学院,成都610065 [2]国网宁夏电力有限公司电力科学研究院,银川750002

出　　处：《高压电器》2025年第4期187-193,共7页High Voltage Apparatus

基　　金：国家重点研发计划(2018YFB1307401)。

摘　　要：针对气体绝缘开关(gas insulated switchgear,GIS)腔体设备故障检测与异物清理的实际需求,研制了一种将柔性臂与轮式移动平台结合的气体绝缘开关设备检测维护机器人。在该机器人基础上,设计了以微处理器STM32与计算模块Jetson Xavier NX为核心,多传感器融合的机器人控制系统,实现了机器人的实时远程视频检测、运动控制等功能,并且结合异物检测定位算法,实现了柔性臂的一种智能控制方案。最终测试结果表明,该控制系统能够控制机器人在GIS腔体环境下平稳运行并实现故障检测与异物清理,具备良好的实时性。In view of the actual needs on the fault detection and foreign object removal of GIS compartment,a kind of detection and maintenance robot of gas-insulated switchgear that combines a flexible arm and a wheeled mobile plat-form is developed.On the basis of this robot,the robot control system with the microprocessor STM32 and the comput-ing module Jetson Xavier NX as the core and fusion of multi-sensor is designed,which realizes the functions of real-time remote video detection and motion control of the robot and,with combination of the foreign object detection and positioning algorithm,realizes a intelligent control scheme of flexible arm.The final test results show that the robot can operate smoothly inside the compartment of GIS,realize fault detection and removal foreign object and possess a good real-time performance.

关 键 词：GIS 柔性臂 轮式移动平台 异物检测定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]