融合3D视觉的机器人自主更换变压器熔断器系统

针对变压器熔断器人工更换工作量大、安全性低的问题,该文设计开发了融合3D视觉的机器人自主更换变压器熔断器系统。该系统以协作机器人为基础,将彩色3D深度相机以eye-in-hand方式与机器人有机结合。采用变压器熔断器作业3D实景还原、自动避障作业技术,实现机器人更换熔断器自主作业。通过在国家电网内部试验场地测试,证明该系统可以替代检修人员进行无人作业,机器人可以安全、高效地完成变压器熔断器更换。

Robot Integrated 3D Vision for Automatic Replacement Transformer Fuse System

In order to solve the problem of heavy workload and low safety of transformer fuse by manual replacement,a robot integrated 3 D vision for automatic replacement transformer fuse system was designed and developed.This system is based on a Cooperative robot,and combines color 3 D depth cameras in the way of eye-in-hand. The technology of 3 D scene restoration and automatic obstacle avoidance are adopted to realize the autonomous operation.Through the test in State Grid,it is proved that the system can replace the personnel for operation and the robot can replace the transformer fuse safely and efficiently.