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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

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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
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