Study on Visual Guidance and Positioning Method of Automatic Make-up and Disassembly Robot of Isolation Circuit Breaker Fittings

ZHU Shenglong; LI Binbin; ZHANG Chenchen; QIN Shaorui; LU Shanfu; ZHU Xufeng

doi:10.13296/j.1001-1609.hva.2020.07.030

您当前的位置：

首页 >

文章列表页 >

Study on Visual Guidance and Positioning Method of Automatic Make-up and Disassembly Robot of Isolation Circuit Breaker Fittings

更新时间：2025-04-26

- Study on Visual Guidance and Positioning Method of Automatic Make-up and Disassembly Robot of Isolation Circuit Breaker Fittings
- High VoltageApparatus Vol. 56, Issue 7, Pages: 205-211(2020)
- 作者机构：
  
  1. 国网安徽省电力有限公司电力科学研究院
  2. 浙江清华长三角研究院信息技术研究所
- 作者简介：
- 基金信息：
- DOI：10.13296/j.1001-1609.hva.2020.07.030
  CLC： TM561
- Published：2020
- 稿件说明：
移动端阅览
[1]朱胜龙,李宾宾,张晨晨,秦少瑞,卢山富,朱徐峰.隔离断路器金具自动化解接机器人视觉引导定位方法研究[J].高压电器,2020,56(07):205-211.

ZHU Shenglong, LI Binbin, ZHANG Chenchen, et al. Study on Visual Guidance and Positioning Method of Automatic Make-up and Disassembly Robot of Isolation Circuit Breaker Fittings[J]. High voltageapparatus, 2020, 56(7): 205-211.
[1]朱胜龙,李宾宾,张晨晨,秦少瑞,卢山富,朱徐峰.隔离断路器金具自动化解接机器人视觉引导定位方法研究[J].高压电器,2020,56(07):205-211. DOI： 10.13296/j.1001-1609.hva.2020.07.030.

ZHU Shenglong, LI Binbin, ZHANG Chenchen, et al. Study on Visual Guidance and Positioning Method of Automatic Make-up and Disassembly Robot of Isolation Circuit Breaker Fittings[J]. High voltageapparatus, 2020, 56(7): 205-211. DOI： 10.13296/j.1001-1609.hva.2020.07.030.

摘要

变电站中主要使用隔离断路器来隔离电压

使待检修设备与带电部分隔离形成安全的操作空间;而目前主要的检修作业方式为人工带电操作

费时费力且具有极高的安全隐患。基于此

文中提出了一种隔离断路器金具自动化解接机器人视觉引导定位方法。该方法由像机实时采集图像数据

利用深度学习目标检测算法进行金具粗定位;并在粗定位的基础上使用图像分割技术精确拟合作业点位置;通过精确的图像坐标点、工具坐标系、机器人本体之间的坐标关系

计算作业点在机器人坐标系下的坐标位置

并控制机械手运动。实验表明

算法具有精度高、稳定性好、速度快等优点。

Abstract

Isolation circuit breakers are used in power stations to isolate voltages

and isolate the equipment to be repaired from live parts to form a safe operating space. At present

the main method of overhaul is manual operation

which is time-consuming and labor-intensive and has high safety risks. Based on this

our paper proposes a visual guidance and positioning method of automatic make-up and disassembly robot of isolated circuit breaker. Image data is collected in real time through a camera

and rough positioning of the fittings is performed through a deep learning object detection algorithm;based on the relationship between the precise image coordinate points

the tool coordinate system

and the robot body

the coordinate position of the operating point in the robot coordinate system is calculated

and the manipulator movement is controlled. The experimental show that the algorithm has the advantages ofhighaccuracy

good stability and fast speed.

关键词

Keywords

references

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Intelligent Checking Method of Abnormal Electricity Data Based on Stacking Strategy and Deep Learning

Seismic Damage Identification Method for Converter Station Equipment Based on Long-short-term Memory Network

Research on Status Identification of Disconnector Based on ResNet Deep Learning Network

Partial Discharge Pattern Recognition in Power Transformers Based on Convolutional Neural Networks

Infrared Image Segmentation and Temperature Reading of Composite Insulator Strings Based on Mask-RCNN Algorithm

Related Author

ZHU Jianquan

FANG Langsen

ZHENG Yingkai

WANG Jiang

YAO Liming

ZHANG Jie

DING Shengze

YANG Liu

Related Institution

Guangdong Electric Power Trading Center Co., Ltd.

School of Electric Power Engineering, South China University of Technology

CSG Extra High Voltage Power Transmission Company, Dali Bureau

Maintenance and Test Center of CSG EHV Power Transmission Company

Xi'an XD Switchgear Electric Co, Ltd

⁰