| 一种用于气体绝缘开关设备异物清扫与检测的机器人系统 |
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| 引用本文： | 马飞越,游洪,佃松宜,杨家勇,彭新智,王博,丁培. 一种用于气体绝缘开关设备异物清扫与检测的机器人系统[J]. 计算机科学, 2017, 44(Z11): 592-595 |
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| 作者姓名： | 马飞越 游洪 佃松宜 杨家勇 彭新智 王博 丁培 |
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| 作者单位： | 国网宁夏电力公司电力科学研究院 银川750011,四川大学电气信息学院 成都610065,四川大学电气信息学院 成都610065,国网宁夏电力公司电力科学研究院 银川750011,国网宁夏电力公司电力科学研究院 银川750011,国网宁夏电力公司电力科学研究院 银川750011,国网宁夏电力公司电力科学研究院 银川750011 |
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| 摘 要： | 针对现有对GIS管道的检测方法不能同时兼顾异物清理的问题,研制了一种基于Inter Edison平台的用于GIS管道内腔异物清扫与检测的机器人系统。从硬件结构、机器人运动学建模以及人机交互平台3个方面对设计的机器人系统进行了详细的介绍。其中硬件上采用集成化程度高的Inter Edison处理器作为模块化设计的中心；在人机交互平台上,基于Android开发平台,实时实现系统的3D动态显示、运动过程控制、机器人姿态控制等功能。实验表明:该机器人结构独特,能在GIS管道腔内平稳地运行；机器人能实现左右各20°的移位；摄像头拍摄无死角；人机交互中心视频画面清晰；整个机器人系统满足GIS检测清理机器人各项功能的任务要求。
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| 关 键 词： | GIS检测清理机器人 模块化设计 Inter Edison处理器 Android开发平台 |
Robot System for GIS Foreign Body Clean and Cavity Detection |
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| MA Fei-yue,YOU Hong,DIAN Song-yi,YANG Jia-yong,PENG Xin-zhi,WANG Bo and DING Pei. Robot System for GIS Foreign Body Clean and Cavity Detection[J]. Computer Science, 2017, 44(Z11): 592-595 |
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| Authors: | MA Fei-yue YOU Hong DIAN Song-yi YANG Jia-yong PENG Xin-zhi WANG Bo DING Pei |
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| Affiliation: | Ningxia Electric Power Research Institute,State Grid Corportaion of China,Yinchuan 750011,China,College of Electrical and Information Technology,Sichuan University,Chengdu 610065,China,College of Electrical and Information Technology,Sichuan University,Chengdu 610065,China,Ningxia Electric Power Research Institute,State Grid Corportaion of China,Yinchuan 750011,China,Ningxia Electric Power Research Institute,State Grid Corportaion of China,Yinchuan 750011,China,Ningxia Electric Power Research Institute,State Grid Corportaion of China,Yinchuan 750011,China and Ningxia Electric Power Research Institute,State Grid Corportaion of China,Yinchuan 750011,China |
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| Abstract: | In view of the problem that the existing GIS pipeline detection method can not take into account the foreign matter cleaning,a robot system based on Edison Inter platform for the detection and cleaning was presented.The design of robot system was introduced in detail from aspects of hardware,kinematic model and human computer interaction platform.On the hardware,a highly integrated processor Edison Inter is used as the center to connect the modularized design during the hardware development.On the human-computer interaction platform,based on the Android development platform,the function of the 3D dynamic display,motion process control,robot attitude control have been in plemented in realtime implemented.The test shows that the robot is unque,smooth running in the GIS pipeline. The robot can achieve the displalement of about 20 degress.The camera has no dead corners.The video pictures of human-compu-ter interaction is clear.The whole system can satisfy the requirement of detection and cleaning. |
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| Keywords: | GIS detecting and cleaning robot Modular design Inter Edison processor Andriod platform |
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