您的位置：山东大学 -> 科技期刊社 -> 《山东大学学报（工学版）》

山东大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (1): 45-53.doi: 10.6040/j.issn.1672-3961.0.2014.123

• 控制科学与工程 • 上一篇    下一篇

面向配电系统的带电抢修作业机器人

高焕兵, 田国会   

  1. 山东大学控制科学与工程学院, 山东 济南 250061
  • 收稿日期:2014-09-02 修回日期:2014-10-15 发布日期:2014-09-02
  • 通讯作者: 田国会(1969-),男,河北河间人,教授,博导,主要研究方向为服务机器人,智能空间,多机器人系统的协调与协作等.E-mail:g.h.tian@sdu.edu.cn E-mail:g.h.tian@sdu.edu.cn
  • 作者简介:高焕兵(1979-),男,山东潍坊人,博士研究生,主要研究方向为智能机器人系统.E-mail:gaohuanbing@163.com
  • 基金资助:
    国家高技术研究发展计划(863计划)资助项目(2012AA041506).

Live-working robot for emergency repair of power distribution system

GAO Huanbing, TIAN Guohui   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2014-09-02 Revised:2014-10-15 Published:2014-09-02

PDF (PC)

1680

摘要： 面向电力行业应急救援和安全抢修作业装备发展的需求,设计了一种配电系统带电抢修作业机器人,并对其机械结构与控制系统进行了介绍。提出一种基于液压伺服驱动的6自由度机械臂的系统解决方案,通过运动学、动力学和有限元分析优化了部件结构和动力学性能,使其有效负载能力达到最大。针对作业过程中机器人本体与导线发生碰撞等引起的震荡问题,使用非对称控制方法,建立了机械臂的柔顺控制模型,降低了震荡的影响。将整体单目视觉的静态测量与双目手眼视觉系统的动态测量相结合,设计了复杂环境下目标点的高精度动态定位系统,实现了机械臂的局部自主路径规划与运动控制。通过实验验证了所开发的带电抢修作业机器人在10 kV以下配电线路应用的有效性和可行性。

关键词: 配电系统, 双目视觉, 带电作业, 机器人, 面向对象, 液压机械臂

Abstract: A live-working robot was presented for the development of safe equipment for emergency rescue and recovery, and its mechanical architecture and control system were discussed. A system solution was proposed based on a hydraulic servo driving robot arm with 6 degrees of freedom, the structure and dynamics performance of which was optimized to maximize its payload capability by kinematics, dynamics and finite element analysis. The compliant control model of the robot arm was built by asymmetric control method against the vibration caused by the collision of the robot with wires. The dynamic positioning system with high precision under complex environment, a combination of static measurement by whole monocular vision and dynamic measurement by binocular eye-in-hand vision system, was developed, then the local automatic path planning and motion control for the robot arm was realized. The effectiveness and feasibility on distribution systems with at the voltage smaller than 10 kV were tested by experiments for the proposed robot.

Key words: robot, distribution system, binocular vision, live-working, object-oriented, hydraulic robot arm

中图分类号: 

  • TP24
[1] Sawada J, Kusumoto K, Maikawa Y, et al. A Mobile Robot for Inspection of Power Transmission Lines[J]. IEEE Trans on Power Delivery, 1991, 6(1):309-315.
[2] Yano K, Maruyama Y, Morita K, et al. Development of the Semi-automatic Hot-line Work Robot Systems "Phase Ⅱ"[C]//Proceedings of the 7th International Conference on Transmission and Distribution Construction and Live Line Maintenance. Washington: IEEE Press, 1995:212-218.
[3] Shinya Tanaka, Yoshinqga Maruyama, Kyoji Yano. Work Automation with the Hot-Line Work Robot System "Phase Ⅱ"[C]//The 1996 IEEE International Conference on Robotics and Automation. Washington: IEEE Press, 1996:1261-1267.
[4] Takaoka K, Yokoyama K, Wakisako H. Development of the fully-automatic live-line maintenance robot-phase III[C]//Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning. Washington: IEEE Press, 2001: 423-428.
[5] Yoshinaga Maruyaga, Robotic application for hot-line maintenance[J].Industrial Robot, 2000, 27(5):357-365.
[6] Tsukahara K, Tanaka Y, Yingxin H, et al. An experimental robot system for power distribution line maintenance robots-system architecture and bolt insertion experiment[C]//Proceedings of the International Conference on Intelligent Robots and Systems. Washington: IEEE Press, 2008:1730-1736.
[7] Santamaria A, Aracil R, Tuduri A, et al. Teleoperated Robots for Live Power Lines Maintenance[C]//Proceedings of the 14th International Conference and Exhibition on Electricity Distribution. Washington: IEEE Press, 1997:3.31.1-3.31.5.
[8] Udod E, Molchanov V, Taloverya V, et al. Automated Apparatus for Live Work on Overhead Transmission Lines[C]//Proceedings of 1998 International Conference on Transmission and Distribution Construction and Live Line Maintenance. Washington: IEEE Press, 1998:19-26.
[9] Zarei-nia K, Sepehri N, Olson T, et al. Haptic-enabled control of hydraulic manipulators applied to power line maintenance: Concept & implementation[C]//Proceedings of the 1st International Conference on Applied Robotics for the Power Industry. Washington: IEEE Press, 2010:1-6.
[10] 赵明辉,朱建生. 加拿大带电作业介绍[J]. 四川电力技术, 1998,21(6):58-60. ZHAO Minghui, ZHU Jiansheng. Live Line Work in Canada[J]. Sichuan Electric Power Technology, 1998, 21(6):58-60.
[11] Soler R, Guillet J. Robotic maintenance of the EDF transmission (63 to 400 kV) network: feasibility study and effects on tower design[C]//Proceedings of the 6th International Conference on Transmission &Distribution Construction & Live Line Maintenance. Washington: IEEE Press, 1993: 459-468.
[12] Chang-HoiKim, Seungho Jung, Taewon Jeong. Relative Position Measurement Method for a Live-line Work Robot[C]//Proceedings of 2007 International Conference on Control, Automation and Systems. Washington: IEEE Press, 2007: 998-1001.
[13] Joon-Young Park, Byung-Hak Cho, Seung-Hyun Byun, et al. Development of Cleaning Robot System for Live-line Suspension Insulator String[J].International Jonrnal of Control,Automation, and Systems. 2009,2(7):211-220.
[14] Joon-Young Park, Byung-Hak Cho, Jae-Kyung Lee. Development of robot mechanism for inspection of live-line suspension insulator string in 345 kV power lines[C]//Proceedings of the 2008 International Conference on Control, Automation and Systems. Washington: IEEE Press, 2008:2062-2065.
[15] 鲁守银, 马培荪, 戚晖, 等. 高压带电作业机器人的研制[J]. 电力系统自动化, 2003, 27(17):56-58. LU Shouyin, MA Peisun, QI Hui, et al. Research on High Voltage Electric Power Live Line Working Robot[J]. Automation of Electric Power Systems, 2003, 27(17):56-58.
[16] 王公旺. 高压带电作业机器人运动控制系统的研究与实现[D]. 青岛:山东科技大学, 2010. WANG Gongwang. The Motion Control System Research and Implementation of High Voltage Live Line Working Robot[D]. Qingdao: Shandong University of Science and Technology, 2010.
[17] Ju Dai, Xuecheng Su. Simulated robotic hot-line maintenance based on virtual reality[C]//Proceedings of the 4th World Congress on Intelligent Control and Automation. Washington: IEEE Press, 2002:1231-1235.
[18] 李健,鲁守银, 李运厂, 等. 10 kV配电线路带电抢修作业机器人实用化研究[J]. 制造业自动化, 2012,34(22):90-94. LI Jian, LU Shouyin, LI Yunchang, et al. The practical research of robot on live repair working for 10 kV distribution lines[J]. Manufacturing Automation, 2012, 34(22):90-94.
[19] Lee Woo-Song, Eom Jae-Hong, Won Jong-Dae, et al. A study on visual servoing control of industrial robot[C]//Proceedings of the 12th International Conference on Control, Automation and Systems. Washington: IEEE Press, 2012:1886-1890.
[20] Huang Guo-Shing, Chen Xi-Sheng, Chang Chung-Liang. Development of dual robotic arm system based on binocular vision[C]//Proceedings of 2013 CACS International Automatic Control Conference. Washington: IEEE Press, 2013:97-102.
[1] 张冕,黄颖,梅海艺,郭毓. 基于Kinect的配电作业机器人智能人机交互方法[J]. 山东大学学报(工学版), 2018, 48(5): 103-108.
[2] 辛亚先,李贻斌,李彬,荣学文. 四足机器人静-动步态平滑切换算法[J]. 山东大学学报(工学版), 2018, 48(4): 42-49.
[3] 褚振忠,朱大奇. 基于自适应区域跟踪的自主式水下机器人容错控制[J]. 山东大学学报(工学版), 2017, 47(5): 57-63.
[4] 赵子健,王芳,常发亮. 计算机辅助外科手术中医疗机器人技术研究综述[J]. 山东大学学报(工学版), 2017, 47(3): 69-78.
[5] 刘斌,宋锐,柴汇. 基于虚拟模型和加速度规划的腿部缓冲策略[J]. 山东大学学报(工学版), 2016, 46(6): 69-75.
[6] 赵子健,陈兆瑞,李冰清. 基于非最小化优化的手眼标定方法[J]. 山东大学学报(工学版), 2016, 46(4): 28-33.
[7] 陈宏兴, 周风余, 田天, 姜志飞, 陈竹敏. 服务机器人云计算平台SOA接口层模型设计[J]. 山东大学学报(工学版), 2015, 45(4): 31-39.
[8] 孟健, 李贻斌, 李彬. 四足机器人跳跃步态控制方法[J]. 山东大学学报(工学版), 2015, 45(3): 28-34.
[9] 田国会, 许亚雄. 云机器人:概念、架构与关键技术研究综述[J]. 山东大学学报(工学版), 2014, 44(6): 47-54.
[10] 周风余, 赵文斐, 田天, 陈宏兴, 陈竹敏. 陪护机器人云存储系统设计及实现[J]. 山东大学学报(工学版), 2014, 44(5): 1-6.
[11] 袁丽,田国会*,李国栋. #br# NAO机器人的视觉伺服物品抓取操作[J]. 山东大学学报(工学版), 2014, 44(3): 57-63.
[12] 王海燕,李贻斌*. 双足机器人动态上下楼梯的规划与控制[J]. 山东大学学报(工学版), 2014, 44(1): 57-62.
[13] 丁娜娜,田国会*,李国栋,张庆宾. 基于人工地标的双足机器人视觉自定位[J]. 山东大学学报(工学版), 2013, 43(4): 51-56.
[14] 马昕1,王维1,宋锐1,荣学文1,孟健1,李贻斌1,王博2. 四足仿生机器人的分层实时控制系统[J]. 山东大学学报(工学版), 2012, 42(4): 48-53.
[15] 李国栋,赵威,田国会*,薛英花. 一种基于旋转矩阵分解的视觉伺服控制算法[J]. 山东大学学报(工学版), 2012, 42(1): 45-50.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
版权所有 © 2018 《山东大学学报(工学版)》编辑部　
地址: 济南市山大南路27号（250100）　 电话: 0531-88366735　 E-mail: xbgxb@sdu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发